[ { "i5noydFURQK.glb_cabinet": [ { "position": [ 3.39623, 0.48355, 9.08554 ], "radius": null, "object_id": 74, "object_name": "1_3_74", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "41f833ed92c0489bb85a911668189278", "observable_viewpoint_ids": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585" ] }, { "position": [ 3.02699, -2.90755, 8.76842 ], "radius": null, "object_id": 292, "object_name": "0_11_292", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "observable_viewpoint_ids": [ "0_edge_74_newN_0", "0_edge_46_newN_1", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "6e136e11116740a6a49af82502f51cee" ] }, { "position": [ 1.45536, 0.52005, 4.99385 ], "radius": null, "object_id": 160, "object_name": "1_7_160", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "observable_viewpoint_ids": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "position": [ 4.21463, 0.48254, 6.07454 ], "radius": null, "object_id": 87, "object_name": "1_4_87", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "observable_viewpoint_ids": [ "533a4cd1505a486fa8801bb3aa38f2e3", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "position": [ 3.03547, -2.67906, 7.39801 ], "radius": null, "object_id": 290, "object_name": "0_11_290", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_46_newN_1", "observable_viewpoint_ids": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "position": [ 3.28133, -2.07744, 6.0532 ], "radius": null, "object_id": 281, "object_name": "0_11_281", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "observable_viewpoint_ids": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "position": [ 1.25167, -2.86762, 5.37554 ], "radius": null, "object_id": 269, "object_name": "0_11_269", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "observable_viewpoint_ids": [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_80_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_46_newN_1", "b2157583eedf426383de6e6e9753a4da", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "position": [ -0.81041, 0.596, 1.60172 ], "radius": null, "object_id": 4, "object_name": "1_0_4", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "observable_viewpoint_ids": [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "position": [ -2.97421, -2.83012, 0.07226 ], "radius": null, "object_id": 223, "object_name": "0_9_223", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "all_observation_viewpoint_ids": [ "075307518bc2495498609ee2ff6dd003", "0_edge_46_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "e80f0f3dbb31423d890e2c2e42759bd1", "6e136e11116740a6a49af82502f51cee", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "21e7d627b7b34355a52f3c88cb2ad446", "ff561930e4314f5c8af26ebaf5bed637", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_44_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_74_newN_0", "c657ac66dec0483683d0d6356992b868", "0_edge_80_newN_0", "0e45c1af5098415c9bbd3a6ce537c7cb", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "41f833ed92c0489bb85a911668189278", "6975b20fd2964adcbe00ee81f5afbb2f", "16f04516e33a4423af79b8f7dc46904c", "34d076b898bd4f539d5be04c0bacc57e", "aff31ea76e864cbfa280a1d82b5e35d8" ] } ], "i5noydFURQK.glb_toilet": [ { "position": [ -2.44091, -2.87106, -0.83341 ], "radius": null, "object_id": 221, "object_name": "0_9_221", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "position": [ 5.49502, 0.5608, 5.96492 ], "radius": null, "object_id": 94, "object_name": "1_4_94", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "0bc53661f71543df85e5499ea85f74c7", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ -3.24213, 0.43025, 3.04016 ], "radius": null, "object_id": 7, "object_name": "1_0_7", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "observable_viewpoint_ids": [ "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "all_observation_viewpoint_ids": [ "6975b20fd2964adcbe00ee81f5afbb2f", "fe2d6243c11d4edb877748f6b6988957", "fea557b2ef0e46929f85f0bfd71f9bdc", "ff561930e4314f5c8af26ebaf5bed637", "0bc53661f71543df85e5499ea85f74c7", "aff31ea76e864cbfa280a1d82b5e35d8" ] } ], "i5noydFURQK.glb_towel": [ { "position": [ -2.81014, -2.12413, 0.46144 ], "radius": null, "object_id": 224, "object_name": "0_9_224", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "position": [ 5.39962, 1.12783, 4.95433 ], "radius": null, "object_id": 102, "object_name": "1_4_102", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ -1.67027, 1.11872, -0.12905 ], "radius": null, "object_id": 8, "object_name": "1_0_8", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "observable_viewpoint_ids": [ "34d076b898bd4f539d5be04c0bacc57e" ] }, { "position": [ -0.76045, 0.93553, -0.16765 ], "radius": null, "object_id": 15, "object_name": "1_0_15", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_58_newN_0", "observable_viewpoint_ids": [ "34d076b898bd4f539d5be04c0bacc57e" ] }, { "all_observation_viewpoint_ids": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "aff31ea76e864cbfa280a1d82b5e35d8", "34d076b898bd4f539d5be04c0bacc57e" ] } ], "i5noydFURQK.glb_picture": [ { "position": [ 5.68156, 1.6021, 6.56728 ], "radius": null, "object_id": 164, "object_name": "1_7_164", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "observable_viewpoint_ids": [ "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "position": [ 2.62345, 1.41974, 7.65554 ], "radius": null, "object_id": 161, "object_name": "1_7_161", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "1e61d22315c945378096f3055645d9e1", "observable_viewpoint_ids": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ] }, { "position": [ 3.95424, 1.53353, 9.55287 ], "radius": null, "object_id": 72, "object_name": "0_12_72", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "41f833ed92c0489bb85a911668189278", "observable_viewpoint_ids": [ "41f833ed92c0489bb85a911668189278" ] }, { "position": [ 0.5137, -2.37809, 4.12078 ], "radius": null, "object_id": 203, "object_name": "0_8_203", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "observable_viewpoint_ids": [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0" ] }, { "position": [ 0.92905, 1.63203, 5.40008 ], "radius": null, "object_id": 21, "object_name": "1_1_21", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "observable_viewpoint_ids": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "position": [ 4.79037, 1.23496, 4.75879 ], "radius": null, "object_id": 126, "object_name": "1_5_126", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "observable_viewpoint_ids": [ "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ 5.15126, 1.58003, 4.74216 ], "radius": null, "object_id": 127, "object_name": "1_5_127", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ 2.93554, 1.59282, 2.46376 ], "radius": null, "object_id": 137, "object_name": "1_6_137", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "c657ac66dec0483683d0d6356992b868", "observable_viewpoint_ids": [ "0_edge_26_newN_1" ] }, { "position": [ 4.31275, 1.47205, 1.58399 ], "radius": null, "object_id": 128, "object_name": "1_5_128", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "observable_viewpoint_ids": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5" ] }, { "position": [ -0.56895, 1.06437, 3.68366 ], "radius": null, "object_id": 41, "object_name": "1_1_41", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "observable_viewpoint_ids": [ "37fc3df516b34c7b95d95c9097151ad9" ] }, { "position": [ -0.31746, 1.53418, 1.46091 ], "radius": null, "object_id": 146, "object_name": "1_6_146", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "observable_viewpoint_ids": [ "34d076b898bd4f539d5be04c0bacc57e", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0" ] }, { "position": [ -2.89606, 1.54622, 2.55302 ], "radius": null, "object_id": 10, "object_name": "1_0_10", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "observable_viewpoint_ids": [ "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "all_observation_viewpoint_ids": [ "075307518bc2495498609ee2ff6dd003", "5062afb29ed34159a1e05c60e6cf6585", "fae6e14f539d49e6ae5007da3497e6fa", "433a39089bf94c7994e39d5e7115cd02", "1e61d22315c945378096f3055645d9e1", "37fc3df516b34c7b95d95c9097151ad9", "7d7ba5af47c84c30850af05e203342e5", "0_edge_44_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_32_newN_0", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_58_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "41f833ed92c0489bb85a911668189278", "0_edge_29_newN_0", "6975b20fd2964adcbe00ee81f5afbb2f", "16f04516e33a4423af79b8f7dc46904c", "0_edge_26_newN_2", "34d076b898bd4f539d5be04c0bacc57e", "0_edge_26_newN_1" ] } ], "i5noydFURQK.glb_sink": [ { "position": [ 1.62593, -2.59145, 8.08279 ], "radius": null, "object_id": 272, "object_name": "0_11_272", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "observable_viewpoint_ids": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "f533db485c9c4a72b7b456bbc6ea5d07" ] }, { "position": [ -3.25086, -2.46122, 0.11681 ], "radius": null, "object_id": 216, "object_name": "0_9_216", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "position": [ 3.75244, 0.85748, 6.0674 ], "radius": null, "object_id": 104, "object_name": "1_4_104", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "observable_viewpoint_ids": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "position": [ 4.71152, 0.85438, 6.05582 ], "radius": null, "object_id": 98, "object_name": "1_4_98", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ -0.78909, 0.83796, 1.90231 ], "radius": null, "object_id": 16, "object_name": "1_0_16", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "observable_viewpoint_ids": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "position": [ -0.80223, 0.82953, 0.42814 ], "radius": null, "object_id": 17, "object_name": "1_0_17", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "observable_viewpoint_ids": [ "34d076b898bd4f539d5be04c0bacc57e" ] }, { "all_observation_viewpoint_ids": [ "6975b20fd2964adcbe00ee81f5afbb2f", "21e7d627b7b34355a52f3c88cb2ad446", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_46_newN_1", "34d076b898bd4f539d5be04c0bacc57e", "a0624e5f721b4283bbf4455ebc882674", "aff31ea76e864cbfa280a1d82b5e35d8", "4385dfc7f81c413b86bb06658c1ff5c7" ] } ], "i5noydFURQK.glb_chair": [ { "position": [ -0.08654, 0.43699, 4.15272 ], "radius": null, "object_id": 24, "object_name": "1_1_24", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "observable_viewpoint_ids": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "position": [ 1.86711, 0.58486, 1.70056 ], "radius": null, "object_id": 147, "object_name": "1_6_147", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_26_newN_1", "observable_viewpoint_ids": [ "c657ac66dec0483683d0d6356992b868", "63ce2067f6dc4caab31f454f4cc5ce42", "3a4c65b97ebb4b4fb888a262586c3fa7", "0_edge_26_newN_1" ] }, { "position": [ 1.84752, 0.57186, 1.26707 ], "radius": null, "object_id": 149, "object_name": "1_6_149", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "observable_viewpoint_ids": [ "c51b92525949496b94fdde3b4be91ede", "c657ac66dec0483683d0d6356992b868", "63ce2067f6dc4caab31f454f4cc5ce42", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "0_edge_26_newN_1" ] }, { "position": [ 0.83155, 0.58341, 1.32046 ], "radius": null, "object_id": 141, "object_name": "1_6_141", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "observable_viewpoint_ids": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_26_newN_1", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0" ] }, { "position": [ 0.63139, -2.84374, 9.04499 ], "radius": null, "object_id": 275, "object_name": "0_11_275", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "observable_viewpoint_ids": [ "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ] }, { "position": [ 0.57255, -2.84744, 8.43244 ], "radius": null, "object_id": 280, "object_name": "0_11_280", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "observable_viewpoint_ids": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "b2157583eedf426383de6e6e9753a4da" ] }, { "position": [ 0.55582, -2.7803, 7.77292 ], "radius": null, "object_id": 285, "object_name": "0_11_285", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "observable_viewpoint_ids": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ] }, { "position": [ 0.74912, -2.78025, 7.24633 ], "radius": null, "object_id": 294, "object_name": "0_11_294", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "observable_viewpoint_ids": [ "27e1974cf8af461e90d0f5124a665654", "0_edge_80_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_46_newN_0", "b2157583eedf426383de6e6e9753a4da", "e80f0f3dbb31423d890e2c2e42759bd1" ] }, { "position": [ -1.82311, -2.79561, 6.64144 ], "radius": null, "object_id": 247, "object_name": "0_10_247", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "observable_viewpoint_ids": [ "bc280058ef514e16860da03ecb6cdb07", "09032e947ac442f3bd01ad3b4f4e1b13", "27e1974cf8af461e90d0f5124a665654" ] }, { "position": [ -1.11812, -2.78589, 6.06832 ], "radius": null, "object_id": 234, "object_name": "0_10_234", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_60_newN_0", "observable_viewpoint_ids": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_80_newN_0", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0" ] }, { "position": [ -1.19431, -2.90225, 6.0598 ], "radius": null, "object_id": 254, "object_name": "0_10_254", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_60_newN_0", "observable_viewpoint_ids": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0" ] }, { "position": [ -2.44635, -2.80087, 6.66985 ], "radius": null, "object_id": 248, "object_name": "0_10_248", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "observable_viewpoint_ids": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "0_edge_93_newN_1" ] }, { "position": [ -1.73566, -2.78841, 5.56577 ], "radius": null, "object_id": 246, "object_name": "0_10_246", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "observable_viewpoint_ids": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_93_newN_0", "0_edge_44_newN_0", "bc280058ef514e16860da03ecb6cdb07", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0" ] }, { "position": [ -3.09065, -2.79055, 6.11862 ], "radius": null, "object_id": 255, "object_name": "0_10_255", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_1", "observable_viewpoint_ids": [ "bf92c209d8bb477c992b145b4f3ca1dd", "09032e947ac442f3bd01ad3b4f4e1b13", "0_edge_93_newN_0", "0_edge_93_newN_1" ] }, { "position": [ -2.50251, -2.79066, 5.51347 ], "radius": null, "object_id": 252, "object_name": "0_10_252", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "observable_viewpoint_ids": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_60_newN_0", "0_edge_93_newN_1" ] }, { "all_observation_viewpoint_ids": [ "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "075307518bc2495498609ee2ff6dd003", "3a4c65b97ebb4b4fb888a262586c3fa7", "bf92c209d8bb477c992b145b4f3ca1dd", "e80f0f3dbb31423d890e2c2e42759bd1", "433a39089bf94c7994e39d5e7115cd02", "0_edge_60_newN_0", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_93_newN_1", "21e7d627b7b34355a52f3c88cb2ad446", "0_edge_93_newN_0", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_44_newN_0", "bc280058ef514e16860da03ecb6cdb07", "57bdea1f5113402d9b4a65450e030424", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "c657ac66dec0483683d0d6356992b868", "0_edge_74_newN_0", "0_edge_80_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_46_newN_0", "0_edge_58_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "09032e947ac442f3bd01ad3b4f4e1b13", "0_edge_26_newN_2", "0_edge_26_newN_1" ] } ], "i5noydFURQK.glb_chest_of_drawers": [ { "position": [ 6.58091, 0.41851, 4.2864 ], "radius": null, "object_id": 119, "object_name": "1_5_119", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ 0.77793, 0.46122, 5.24334 ], "radius": null, "object_id": 37, "object_name": "1_1_37", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "observable_viewpoint_ids": [ "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762" ] }, { "position": [ 6.57426, 0.38692, 2.0375 ], "radius": null, "object_id": 112, "object_name": "1_5_112", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "observable_viewpoint_ids": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0" ] }, { "position": [ -3.3894, 0.49913, 7.12612 ], "radius": null, "object_id": 29, "object_name": "1_1_29", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "observable_viewpoint_ids": [ "81309402fcf041df881e7aca01b8b4f2" ] }, { "position": [ -3.37753, 0.44494, 4.22543 ], "radius": null, "object_id": 39, "object_name": "1_1_39", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "observable_viewpoint_ids": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "all_observation_viewpoint_ids": [ "0_edge_34_newN_1", "0_edge_29_newN_0", "6975b20fd2964adcbe00ee81f5afbb2f", "fea557b2ef0e46929f85f0bfd71f9bdc", "f9e969d895654fb5b82a1366e0b72762", "37fc3df516b34c7b95d95c9097151ad9", "81309402fcf041df881e7aca01b8b4f2", "4dcc93d2006646e19f9b2748dcb4f860", "57bdea1f5113402d9b4a65450e030424", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "fae6e14f539d49e6ae5007da3497e6fa", "1e61d22315c945378096f3055645d9e1" ] } ], "i5noydFURQK.glb_bed": [ { "position": [ -2.41479, 0.6962, 5.71711 ], "radius": null, "object_id": 30, "object_name": "1_1_30", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "observable_viewpoint_ids": [ "0_edge_29_newN_0", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "81309402fcf041df881e7aca01b8b4f2", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762" ] }, { "position": [ 5.78227, 0.42897, 3.17303 ], "radius": null, "object_id": 108, "object_name": "1_5_108", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "observable_viewpoint_ids": [ "e6ac6b13b27c41b28df5d51a7e26549d", "6975b20fd2964adcbe00ee81f5afbb2f", "7d7ba5af47c84c30850af05e203342e5", "91c5afdf381d439380d3ca8d6eb27b03", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "all_observation_viewpoint_ids": [ "0_edge_29_newN_0", "e6ac6b13b27c41b28df5d51a7e26549d", "6975b20fd2964adcbe00ee81f5afbb2f", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "7d7ba5af47c84c30850af05e203342e5", "81309402fcf041df881e7aca01b8b4f2", "91c5afdf381d439380d3ca8d6eb27b03", "57bdea1f5113402d9b4a65450e030424", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "fae6e14f539d49e6ae5007da3497e6fa", "f9e969d895654fb5b82a1366e0b72762" ] } ], "i5noydFURQK.glb_plant": [ { "position": [ 0.66815, 1.19282, 6.04675 ], "radius": null, "object_id": 45, "object_name": "1_1_45", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "observable_viewpoint_ids": [ "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "position": [ 2.97738, 1.24032, 9.41253 ], "radius": null, "object_id": 77, "object_name": "1_3_77", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "41f833ed92c0489bb85a911668189278", "observable_viewpoint_ids": [ "41f833ed92c0489bb85a911668189278" ] }, { "position": [ 0.59512, 1.18401, 4.07077 ], "radius": null, "object_id": 32, "object_name": "1_1_32", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "observable_viewpoint_ids": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "position": [ -1.92024, -2.63948, 2.47325 ], "radius": null, "object_id": 192, "object_name": "0_8_192", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "observable_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0" ] }, { "all_observation_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_29_newN_0", "41f833ed92c0489bb85a911668189278", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_41_newN_0", "4dcc93d2006646e19f9b2748dcb4f860", "57bdea1f5113402d9b4a65450e030424" ] } ], "i5noydFURQK.glb_cushion": [ { "position": [ 6.26526, 0.77524, 3.17829 ], "radius": null, "object_id": 114, "object_name": "1_5_114", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "observable_viewpoint_ids": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ -3.03686, 1.00197, 5.67931 ], "radius": null, "object_id": 34, "object_name": "1_1_34", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "observable_viewpoint_ids": [ "0_edge_29_newN_0", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "81309402fcf041df881e7aca01b8b4f2", "57bdea1f5113402d9b4a65450e030424" ] }, { "position": [ -3.15063, -2.63543, 3.13899 ], "radius": null, "object_id": 193, "object_name": "0_8_193", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "observable_viewpoint_ids": [ "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "position": [ -3.13893, -2.65462, 2.77491 ], "radius": null, "object_id": 180, "object_name": "0_8_180", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "observable_viewpoint_ids": [ "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "position": [ -1.37722, -2.59399, 1.0973 ], "radius": null, "object_id": 183, "object_name": "0_8_183", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_41_newN_0", "observable_viewpoint_ids": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "position": [ -1.77533, -2.6355, 1.07669 ], "radius": null, "object_id": 201, "object_name": "0_8_201", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "observable_viewpoint_ids": [ "0_edge_41_newN_0" ] }, { "position": [ -2.57767, -2.65497, 1.17415 ], "radius": null, "object_id": 204, "object_name": "0_8_204", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "all_observation_viewpoint_ids": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_29_newN_0", "6975b20fd2964adcbe00ee81f5afbb2f", "0d22d1de9f4d4668b333ac24923d8940", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_41_newN_0", "81309402fcf041df881e7aca01b8b4f2", "57bdea1f5113402d9b4a65450e030424", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "fae6e14f539d49e6ae5007da3497e6fa", "aff31ea76e864cbfa280a1d82b5e35d8" ] } ], "i5noydFURQK.glb_seating": [ { "position": [ -1.07404, 0.3639, 5.6961 ], "radius": null, "object_id": 40, "object_name": "1_1_40", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_29_newN_0", "observable_viewpoint_ids": [ "0_edge_34_newN_1", "0_edge_29_newN_0", "37fc3df516b34c7b95d95c9097151ad9", "81309402fcf041df881e7aca01b8b4f2", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762" ] }, { "all_observation_viewpoint_ids": [ "0_edge_34_newN_1", "0_edge_29_newN_0", "37fc3df516b34c7b95d95c9097151ad9", "81309402fcf041df881e7aca01b8b4f2", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762" ] } ], "i5noydFURQK.glb_counter": [ { "position": [ 4.23165, 0.80755, 6.08004 ], "radius": null, "object_id": 95, "object_name": "1_4_95", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "observable_viewpoint_ids": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "position": [ 3.12815, 0.96131, 8.92129 ], "radius": null, "object_id": 83, "object_name": "1_3_83", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "41f833ed92c0489bb85a911668189278", "observable_viewpoint_ids": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585" ] }, { "position": [ 3.30695, -2.39489, 8.20682 ], "radius": null, "object_id": 291, "object_name": "0_11_291", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "observable_viewpoint_ids": [ "0_edge_74_newN_0", "0_edge_46_newN_1", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "6e136e11116740a6a49af82502f51cee", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "position": [ 1.25875, -2.87494, 8.15283 ], "radius": null, "object_id": 289, "object_name": "0_11_289", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "observable_viewpoint_ids": [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "0_edge_14_newN_0", "0_edge_74_newN_0", "902b0496eeb94742995708a15c69bb26", "0_edge_80_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "d20808518c8d4844bb76a2e0a7b98ba4", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_46_newN_1", "b2157583eedf426383de6e6e9753a4da", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_0", "6e136e11116740a6a49af82502f51cee", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "position": [ -3.23623, -2.55071, 0.05855 ], "radius": null, "object_id": 210, "object_name": "0_9_210", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "observable_viewpoint_ids": [ "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "all_observation_viewpoint_ids": [ "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "0_edge_46_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "e80f0f3dbb31423d890e2c2e42759bd1", "6e136e11116740a6a49af82502f51cee", "4385dfc7f81c413b86bb06658c1ff5c7", "ff561930e4314f5c8af26ebaf5bed637", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "0_edge_74_newN_0", "0_edge_80_newN_0", "0e45c1af5098415c9bbd3a6ce537c7cb", "fdf3a24fdd1c41b092aa9e5ede5946d1", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "41f833ed92c0489bb85a911668189278", "6975b20fd2964adcbe00ee81f5afbb2f", "d20808518c8d4844bb76a2e0a7b98ba4", "aff31ea76e864cbfa280a1d82b5e35d8" ] } ], "i5noydFURQK.glb_shower": [ { "position": [ 5.8821, 1.37548, 4.85523 ], "radius": null, "object_id": 86, "object_name": "1_4_86", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "position": [ 6.57297, 1.61724, 5.60118 ], "radius": null, "object_id": 88, "object_name": "1_4_88", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "all_observation_viewpoint_ids": [ "6975b20fd2964adcbe00ee81f5afbb2f" ] } ], "i5noydFURQK.glb_bathtub": [ { "position": [ 6.34048, 0.29224, 5.60376 ], "radius": null, "object_id": 100, "object_name": "1_4_100", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "observable_viewpoint_ids": [ "0bc53661f71543df85e5499ea85f74c7", "6975b20fd2964adcbe00ee81f5afbb2f", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "all_observation_viewpoint_ids": [ "0bc53661f71543df85e5499ea85f74c7", "6975b20fd2964adcbe00ee81f5afbb2f", "dd4e4342c9d849c6881d1e4ba1b816da" ] } ], "i5noydFURQK.glb_table": [ { "position": [ 1.27828, 0.50303, 1.30008 ], "radius": null, "object_id": 142, "object_name": "1_6_142", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_58_newN_0", "observable_viewpoint_ids": [ "c51b92525949496b94fdde3b4be91ede", "c657ac66dec0483683d0d6356992b868", "0_edge_58_newN_0", "0_edge_26_newN_2", "3a4c65b97ebb4b4fb888a262586c3fa7", "63ce2067f6dc4caab31f454f4cc5ce42", "6ffda5b4b3394a4c8f79e157a2d3682d", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_1" ] }, { "position": [ -2.18705, -2.944, 6.11262 ], "radius": null, "object_id": 244, "object_name": "0_10_244", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "observable_viewpoint_ids": [ "0_edge_93_newN_1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_93_newN_0", "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0" ] }, { "position": [ -1.7731, -3.12027, 4.23775 ], "radius": null, "object_id": 190, "object_name": "0_8_190", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "observable_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "075307518bc2495498609ee2ff6dd003", "0_edge_93_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0" ] }, { "position": [ -1.81123, -3.10865, 2.49628 ], "radius": null, "object_id": 187, "object_name": "0_8_187", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "observable_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0" ] }, { "position": [ -3.01561, -3.00051, 4.20885 ], "radius": null, "object_id": 185, "object_name": "0_8_185", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_93_newN_0", "observable_viewpoint_ids": [ "bf92c209d8bb477c992b145b4f3ca1dd", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_93_newN_0" ] }, { "all_observation_viewpoint_ids": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "075307518bc2495498609ee2ff6dd003", "3a4c65b97ebb4b4fb888a262586c3fa7", "bf92c209d8bb477c992b145b4f3ca1dd", "433a39089bf94c7994e39d5e7115cd02", "0_edge_60_newN_0", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_93_newN_1", "0_edge_93_newN_0", "0_edge_41_newN_0", "0_edge_44_newN_0", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_42_newN_1", "27e1974cf8af461e90d0f5124a665654", "c657ac66dec0483683d0d6356992b868", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_58_newN_0", "16f04516e33a4423af79b8f7dc46904c", "09032e947ac442f3bd01ad3b4f4e1b13", "0_edge_26_newN_2", "0_edge_26_newN_1" ] } ], "i5noydFURQK.glb_sofa": [ { "position": [ -2.30869, -2.87753, 2.19433 ], "radius": null, "object_id": 176, "object_name": "0_8_176", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "observable_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "all_observation_viewpoint_ids": [ "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0", "aff31ea76e864cbfa280a1d82b5e35d8" ] } ] }, { "episode_id": "AE861G0AY5RGT:3CP1TO84PV4FCFVI556BE9A6H0D256", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20663, -3.21318, 0.60027 ], "start_rotation": [ 0, 0.76868, 0, -0.63963 ], "object_category": "shower", "info": { "geodesic_distance": 23.2005, "euclidean_distance": 7.52151, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82711, 0.18682, 5.55995 ] }, "scene_dataset": null, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "3560fdb7b97c462ab565c8946b77ecef", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AHIJACUG7ZL9B:3OVR4I9USRME8FT3TBD25Z2VXAC4QX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.00922, -3.21318, 10.03441 ], "start_rotation": [ 0, 0.66646, 0, -0.74554 ], "object_category": "seating", "info": { "geodesic_distance": 13.03594, "euclidean_distance": 5.17998, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08169, 0.18682, 6.67963 ] }, "scene_dataset": null, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3G5OWGKHW6OL5:34QN5IT0T1UR3NB6OG9075RIMSL08D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.68692, 0.20626, 0.63742 ], "start_rotation": [ 0, 0.93032, 0, -0.36675 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.39349, "euclidean_distance": 9.47474, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.36391, 0.18682, 6.91801 ] }, "scene_dataset": null, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "41f833ed92c0489bb85a911668189278", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7" ], "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ARQR5NIFA1AJ:3LQ8PUHQFNVV3TTFVASCQMKDB5DIHQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.61041, -3.21318, 6.31342 ], "start_rotation": [ 0, 0.73796, 0, 0.67485 ], "object_category": "seating", "info": { "geodesic_distance": 18.315, "euclidean_distance": 3.48412, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.01997, 0.18682, 6.69939 ] }, "scene_dataset": null, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_42_newN_1", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "c3cbc9cde04b4568aad232bf17a0bc1e", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "3a4c65b97ebb4b4fb888a262586c3fa7", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "ACM3TPZKLE7WC:3EG49X351WFCWZYTYD19W5I2Q4MX6P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.45937, 0.18682, 3.02538 ], "start_rotation": [ 0, 0.51108, 0, 0.85953 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.83141, "euclidean_distance": 5.12663, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.88705, 0.18682, 5.36976 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3G5OWGKHW6OL5:34QN5IT0T1UR3NB6OG9075RIMSL08D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.68692, 0.20626, 0.63742 ], "start_rotation": [ 0, 0.93032, 0, -0.36675 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.39349, "euclidean_distance": 9.47474, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.36391, 0.18682, 6.91801 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "41f833ed92c0489bb85a911668189278", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7" ], "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3DR23U6WE7H9SXIOZLJAJQP9U5STER", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.15349, -0.851, 9.39266 ], "start_rotation": [ 0, 0.99776, 0, 0.06693 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.26108, "euclidean_distance": 5.09373, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.75617, 0.18682, 6.9817 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A302KOFOYLD89A:3UXUOQ9OKG0J4M456DENIB70KUVA7V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.3875, 0.18682, 9.98136 ], "start_rotation": [ 0, 0.63691, 0, -0.77094 ], "object_category": "towel", "info": { "geodesic_distance": 7.35579, "euclidean_distance": 6.34517, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.42262, 0.18682, 5.31643 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "ARQR5NIFA1AJ:3DZQRBDBSNI53ZPCL1XOQUPQ1XWS3I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.21484, -3.21318, 9.01729 ], "start_rotation": [ 0, 0.69403, 0, 0.71994 ], "object_category": "sink", "info": { "geodesic_distance": 3.02567, "euclidean_distance": 2.41782, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.26658, -3.21318, 9.32492 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1JI19KPIVNL3Y:34S9DKFK75S93PUV2Q9SHUBXN0BYNC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.13258, -0.68256, 9.15175 ], "start_rotation": [ 0, 0.55822, 0, -0.82969 ], "object_category": "sofa", "info": { "geodesic_distance": 12.62556, "euclidean_distance": 9.29486, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.89132, -3.21318, 3.58374 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "ACI0C2WU1NABK:3II4UPYCOLAR8BCWMMEV83W1ANLDQZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.14646, -0.46915, 8.86512 ], "start_rotation": [ 0, 0.97329, 0, -0.2296 ], "object_category": "towel", "info": { "geodesic_distance": 7.32402, "euclidean_distance": 4.03142, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.60346, 0.18682, 5.2302 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:3CTOC39K39TU5F790JR0BAAJAG8J71", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.02827, 0.17292, 1.90901 ], "start_rotation": [ 0, 0.91802, 0, -0.39654 ], "object_category": "seating", "info": { "geodesic_distance": 9.0003, "euclidean_distance": 7.59939, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.03439, 0.18682, 6.74055 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3I2PTA7R3VXZMHI6E30ICGRRUVPQKU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.94874, 0.18682, 5.45052 ], "start_rotation": [ 0, 0.4607, 0, 0.88756 ], "object_category": "seating", "info": { "geodesic_distance": 3.72279, "euclidean_distance": 3.10567, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.00898, 0.18682, 6.68641 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0e45c1af5098415c9bbd3a6ce537c7cb", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3RJSC4XJ12X8G5S4QI2XVLHRK1Y05N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.09365, -3.21318, 6.22637 ], "start_rotation": [ 0, 0.76095, 0, -0.64881 ], "object_category": "sink", "info": { "geodesic_distance": 1.32138, "euclidean_distance": 1.24209, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.22227, -3.21318, 6.66023 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2MCG5W6LHSRG9:3137ONMDKI85NSWIFLK3K7AK4CFEG0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.38437, 0.18682, 2.46096 ], "start_rotation": [ 0, 0.91267, 0, -0.4087 ], "object_category": "cushion", "info": { "geodesic_distance": 4.09576, "euclidean_distance": 3.8116, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.80105, 0.18682, 4.16409 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "AXAO7UJYYEFCO:3G5F9DBFOR00PZDFUHRV5BA7J69HVK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.18963, 0.18682, 8.78395 ], "start_rotation": [ 0, 0.39535, 0, 0.91853 ], "object_category": "sofa", "info": { "geodesic_distance": 21.12067, "euclidean_distance": 6.27893, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.84462, -3.21318, 3.67016 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3URFVVM167LM35O9VDNX9WCT1Q9UZS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.99874, 0.18682, 2.92807 ], "start_rotation": [ 0, 0.14801, 0, -0.98899 ], "object_category": "plant", "info": { "geodesic_distance": 1.68786, "euclidean_distance": 1.6052, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80251, 0.18682, 4.03757 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:36H9ULYP64X7K8MFI2PCZ2N0852FJE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.99672, -3.21318, 5.98983 ], "start_rotation": [ 0, 0.55005, 0, 0.83513 ], "object_category": "picture", "info": { "geodesic_distance": 1.53347, "euclidean_distance": 1.26514, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12734, -3.21318, 5.04523 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A1P3HHEXWNLJMP:3OSWBBLG1G0BH8D8809N2BSU7PLDX7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.34482, 0.27054, 0.89392 ], "start_rotation": [ 0, 0.94755, 0, -0.31961 ], "object_category": "counter", "info": { "geodesic_distance": 9.45087, "euclidean_distance": 6.75413, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.65396, 0.18682, 5.65157 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QRYMNZ7F0KDM3V1SKMT9DJI8YUTNJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38076, -3.21318, 8.79208 ], "start_rotation": [ 0, 0.99857, 0, 0.05337 ], "object_category": "towel", "info": { "geodesic_distance": 11.54254, "euclidean_distance": 9.88375, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.26225, -3.21318, 0.00591 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A12H9WVHOB0E0O:3HWRJOOET758DX59ALEK9LTNSMNSEA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.52638, 0.18682, 3.14808 ], "start_rotation": [ 0, 0.73719, 0, 0.67569 ], "object_category": "counter", "info": { "geodesic_distance": 2.5534, "euclidean_distance": 2.31986, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.91781, 0.18682, 4.92792 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", [ "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3LOZAJ85YFGOEYFSBBP66S1QAZ42XX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.82493, -3.21318, 2.34887 ], "start_rotation": [ 0, 0.4293, 0, 0.90316 ], "object_category": "sink", "info": { "geodesic_distance": 3.73532, "euclidean_distance": 2.6278, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.22931, -3.21318, -0.00229 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3VSOLARPKDCNYKTDCVXX9ZK09AL934", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.03776, 0.18682, 4.21862 ], "start_rotation": [ 0, 0.89829, 0, -0.4394 ], "object_category": "plant", "info": { "geodesic_distance": 3.543, "euclidean_distance": 2.64444, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.20956, 0.18682, 6.80361 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3LS2AMNW5HTIC83LCVSBJX80E0AOQN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.0749, -3.21318, 5.01823 ], "start_rotation": [ 0, 0.44819, 0, -0.89394 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.95946, "euclidean_distance": 7.2319, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.10089, 0.18682, 7.23155 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RYI5HXC2MJLN:3HYA4D452TM7ECO7BHJK0L1J6US2FQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.93979, 0.18682, 6.00109 ], "start_rotation": [ 0, 0.25114, 0, -0.96795 ], "object_category": "plant", "info": { "geodesic_distance": 2.11198, "euclidean_distance": 1.81782, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.24584, 0.18682, 6.86963 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3I33IC7ZWH5CIL7Z01XSMKQS9DQ2AM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.76931, -3.21318, 10.3244 ], "start_rotation": [ 0, 0.85071, 0, 0.52564 ], "object_category": "seating", "info": { "geodesic_distance": 13.25667, "euclidean_distance": 5.29321, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16459, 0.18682, 6.70662 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A5WWHKD82I8UE:3OWEPKL08BFQO5YUFHJS4HR0J1ZN7X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.93175, -3.21318, 10.01804 ], "start_rotation": [ 0, 0.41305, 0, -0.91071 ], "object_category": "towel", "info": { "geodesic_distance": 12.81632, "euclidean_distance": 10.78882, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.39561, -3.21318, 0.06098 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AZPZDX26SYMFY:3YDGXNSEO1X82BT77HW2J8HV33F489", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.74244, 0.18682, 4.19677 ], "start_rotation": [ 0, 0.41073, 0, 0.91176 ], "object_category": "shower", "info": { "geodesic_distance": 4.22842, "euclidean_distance": 1.07784, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.7516, 0.18682, 5.40587 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TAYZSBPLNBGIHTTH1JJ7KKYVJWS27", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.03174, 0.18682, 1.05126 ], "start_rotation": [ 0, 0.8675, 0, 0.49744 ], "object_category": "plant", "info": { "geodesic_distance": 7.68398, "euclidean_distance": 5.83852, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22931, 0.18682, 6.84239 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2MCG5W6LHSRG9:3DQQ64TANIO5H5B8344W0MVCC74PWS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.66038, 0.11632, 2.05389 ], "start_rotation": [ 0, 0.77545, 0, 0.63141 ], "object_category": "chair", "info": { "geodesic_distance": 5.26154, "euclidean_distance": 3.41968, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.36358, 0.15395, 3.08319 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A28AXX4NCWPH1F:3PEIJLRY6VWAQEDZPVEDUZHFE5OXWX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.52055, 0.18682, 7.00052 ], "start_rotation": [ 0, 0.04304, 0, 0.99907 ], "object_category": "chair", "info": { "geodesic_distance": 2.13346, "euclidean_distance": 1.88696, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16376, 0.18682, 5.71291 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A28AXX4NCWPH1F:3WOKGM4L73JUOFYMVXYW4RHI1XL0OC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.87393, 0.18682, 7.26078 ], "start_rotation": [ 0, 0.83314, 0, 0.55306 ], "object_category": "shower", "info": { "geodesic_distance": 4.10497, "euclidean_distance": 2.05376, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.76983, 0.18682, 5.43738 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3KJYX6QCMBEWG585IHUGHOQMWZ3JVJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.17503, 0.24161, 2.47156 ], "start_rotation": [ 0, 0.99256, 0, -0.12179 ], "object_category": "counter", "info": { "geodesic_distance": 3.04753, "euclidean_distance": 2.84782, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.8793, 0.18682, 5.01927 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A19C2SO0IMRZ1L:31UV0MXWNSFJN09KU8R31PHN6VOI59", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.13612, 0.25153, 0.76817 ], "start_rotation": [ 0, 0.7993, 0, -0.60093 ], "object_category": "plant", "info": { "geodesic_distance": 3.73327, "euclidean_distance": 3.48968, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80733, 0.18682, 4.06163 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3RYI5HXC2MJLN:33FBRBDW6Q2BXF6M0W2K26TJVHYC8Y", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.41305, 0.22036, 2.78158 ], "start_rotation": [ 0, 0.13181, 0, 0.99128 ], "object_category": "toilet", "info": { "geodesic_distance": 4.11958, "euclidean_distance": 2.54831, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.25046, 0.18682, 5.33013 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3IRIK4HM3CNOT1NY7H5MISXSPMG6CE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.10588, 0.09946, -0.20743 ], "start_rotation": [ 0, 0.99619, 0, -0.08718 ], "object_category": "sofa", "info": { "geodesic_distance": 24.50211, "euclidean_distance": 5.88204, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.74584, -3.21318, 3.5676 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3DR23U6WE7H9SXIOZLJAJQP9U6NET9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.44854, -3.21318, 9.93487 ], "start_rotation": [ 0, 0.95844, 0, -0.28529 ], "object_category": "picture", "info": { "geodesic_distance": 6.12532, "euclidean_distance": 5.42513, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12213, -3.21318, 5.01477 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DZQRBDBSNI53ZPCL1XOQUPQ1XP3SM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.86529, 0.18682, 4.49723 ], "start_rotation": [ 0, 0.09752, 0, -0.99523 ], "object_category": "toilet", "info": { "geodesic_distance": 1.84995, "euclidean_distance": 1.5623, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.02352, 0.18682, 5.39175 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A19C2SO0IMRZ1L:3BV8HQ2ZZY400MQ0N39VCX74PIY6AD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.47017, -1.12586, 10.14271 ], "start_rotation": [ 0, 0.97504, 0, 0.22205 ], "object_category": "cushion", "info": { "geodesic_distance": 10.03649, "euclidean_distance": 6.24609, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67146, 0.18682, 4.1617 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3I33IC7ZWH5CIL7Z01XSMKQS9EAA2G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.19789, 0.18682, 7.16282 ], "start_rotation": [ 0, 0.76189, 0, 0.64771 ], "object_category": "chair", "info": { "geodesic_distance": 6.79356, "euclidean_distance": 6.17938, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12512, 0.18682, 5.56129 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A5WWHKD82I8UE:3ZDAD0O1T3GIYX95UQ927FAGABDXTE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.22701, -3.21318, 5.31303 ], "start_rotation": [ 0, 0.42234, 0, -0.90644 ], "object_category": "towel", "info": { "geodesic_distance": 6.97147, "euclidean_distance": 5.31546, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.22188, -3.21318, 0.0239 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:3N2BF7Y2VSXHZCJ6GPQ4IFRUSEAMHN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.4306, 0.10368, 2.68775 ], "start_rotation": [ 0, 0.81456, 0, -0.58008 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.85576, "euclidean_distance": 3.26411, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.2321, 0.18682, 4.32753 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A302KOFOYLD89A:3M0NZ3JDP315IQYUUCFP1KKD28HZ5E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.47638, 0.19935, 7.04736 ], "start_rotation": [ 0, 0.13083, 0, 0.9914 ], "object_category": "cushion", "info": { "geodesic_distance": 7.5891, "euclidean_distance": 3.24921, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.78247, 0.18682, 4.14551 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] ] }, { "episode_id": "AHIJACUG7ZL9B:3OUYGIZWR91C9FANAXBBTRM8B2J0PV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.9293, 0.18682, 7.12443 ], "start_rotation": [ 0, 0.4615, 0, 0.88714 ], "object_category": "sofa", "info": { "geodesic_distance": 22.24601, "euclidean_distance": 4.9932, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.8008, -3.21318, 3.68808 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da" ], "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A21ZK49H9LSSRY:3VNL7UK1XHM1YBIKUW3G18A9667TF9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.25123, -3.21318, 4.38911 ], "start_rotation": [ 0, 0.79338, 0, -0.60872 ], "object_category": "towel", "info": { "geodesic_distance": 5.97742, "euclidean_distance": 5.00484, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.3694, -3.21318, 0.07574 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:3L4PIM1GQVJUINMNVXQ9QEG7OWBYR9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.51537, 0.18682, 7.27826 ], "start_rotation": [ 0, 0.06581, 0, 0.99783 ], "object_category": "towel", "info": { "geodesic_distance": 5.42541, "euclidean_distance": 2.27114, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.56358, 0.18682, 5.24584 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AE861G0AY5RGT:3CP1TO84PV4FCFVI556BE9A6H0D256", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20663, -3.21318, 0.60027 ], "start_rotation": [ 0, 0.76868, 0, -0.63963 ], "object_category": "shower", "info": { "geodesic_distance": 23.2005, "euclidean_distance": 7.52151, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82711, 0.18682, 5.55995 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "3560fdb7b97c462ab565c8946b77ecef", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3J2UYBXQQNF4Z9SIV1C2NRVRGWI60I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.2615, -3.21318, 8.94267 ], "start_rotation": [ 0, 0.04481, 0, 0.999 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.06246, "euclidean_distance": 4.42594, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.79977, 0.18682, 7.02978 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2MCG5W6LHSRG9:3TVSS0C0E3339X4FKLDG5WW91AATWM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.84705, 0.18682, 7.10172 ], "start_rotation": [ 0, 1, 0, 0.00303 ], "object_category": "counter", "info": { "geodesic_distance": 6.33398, "euclidean_distance": 5.60413, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.66223, 0.18682, 5.58602 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AXAO7UJYYEFCO:32M8BPYGAVPH3XY4B4AU5M8CW56GIV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.41318, 0.18682, 6.8788 ], "start_rotation": [ 0, 0.70147, 0, 0.71269 ], "object_category": "bed", "info": { "geodesic_distance": 6.70091, "euclidean_distance": 3.68456, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.98203, 0.18682, 4.06536 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A314XJY8V1YL12:31QTRG6Q2VG96A68I5MKLJGSNFJPY6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.9106, -3.21318, -0.09404 ], "start_rotation": [ 0, 0.89792, 0, -0.44015 ], "object_category": "seating", "info": { "geodesic_distance": 24.78414, "euclidean_distance": 7.60533, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.02285, 0.18682, 6.69305 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3BV8HQ2ZZY400MQ0N39VCX74PJBA6W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.30743, -3.21318, 9.54442 ], "start_rotation": [ 0, 0.14594, 0, -0.98929 ], "object_category": "sink", "info": { "geodesic_distance": 2.8405, "euclidean_distance": 2.4954, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.28841, -3.21318, 9.4484 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "902b0496eeb94742995708a15c69bb26", "path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A3B1P3B6X3AM2B:3NL0RFNU0HQSXCV8G6T59DQMY49K4A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.60208, 0.18682, 6.52951 ], "start_rotation": [ 0, 0.83863, 0, -0.5447 ], "object_category": "towel", "info": { "geodesic_distance": 4.79253, "euclidean_distance": 4.18336, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.5022, 0.18682, 5.35718 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AZPZDX26SYMFY:3AAJC4I4FIVDPPDFJEJJ2U3IKAAZJ0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.18621, 0.18682, 6.47097 ], "start_rotation": [ 0, 0.31718, 0, 0.94836 ], "object_category": "sofa", "info": { "geodesic_distance": 20.59433, "euclidean_distance": 4.49469, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.7944, -3.21318, 3.69151 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AOG0PUCLMU0HH:3CTOC39K39TU5F790JR0BAAJAGC7JT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.20081, 0.24041, 1.35658 ], "start_rotation": [ 0, 0.99049, 0, 0.13755 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.80545, "euclidean_distance": 9.41225, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.23645, 0.18682, 6.99149 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ARQR5NIFA1AJ:3LQ8PUHQFNVV3TTFVASCQMKDB5DIHQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.61041, -3.21318, 6.31342 ], "start_rotation": [ 0, 0.73796, 0, 0.67485 ], "object_category": "seating", "info": { "geodesic_distance": 18.315, "euclidean_distance": 3.48412, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.01997, 0.18682, 6.69939 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_42_newN_1", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "c3cbc9cde04b4568aad232bf17a0bc1e", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "3a4c65b97ebb4b4fb888a262586c3fa7", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3RYI5HXC2MJLN:382M9COHEJIOSAXDZQ9KOMBBDKXEU3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.33842, 0.18682, 3.22003 ], "start_rotation": [ 0, 0.80707, 0, 0.59046 ], "object_category": "chair", "info": { "geodesic_distance": 3.08874, "euclidean_distance": 1.9885, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.36632, 0.15846, 3.11954 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3MX2NQ3YCBXGDVYFTUR44Z42U9R5XX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.23909, -3.21318, 5.70445 ], "start_rotation": [ 0, 0.28108, 0, -0.95968 ], "object_category": "picture", "info": { "geodesic_distance": 2.86889, "euclidean_distance": 2.13583, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14597, -3.21318, 4.93 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A3RR85PK3AV9TU:3WR9XG3T65E42XOOXC4W58L0SJG47T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.12894, -2.26025, 10.35799 ], "start_rotation": [ 0, 0.92282, 0, -0.38523 ], "object_category": "picture", "info": { "geodesic_distance": 5.38835, "euclidean_distance": 4.39155, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.70168, 0.18682, 7.05055 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "AIOOOO5OXWXKM:3ZAK8W07I6HP1KIJRJA53X97JJ00UG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.38126, 0.18682, 8.97215 ], "start_rotation": [ 0, 0.89277, 0, 0.45051 ], "object_category": "picture", "info": { "geodesic_distance": 3.12223, "euclidean_distance": 2.92503, "closest_goal_object_id": 21, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.13232, 0.18682, 6.22901 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A5WWHKD82I8UE:39OWYR0EPMUXFXHE42QF9P2OL91YFH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.61609, -2.63323, 10.43541 ], "start_rotation": [ 0, 0.86549, 0, 0.50093 ], "object_category": "table", "info": { "geodesic_distance": 5.92113, "euclidean_distance": 5.30231, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.6758, -3.21318, 7.34846 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A1P3HHEXWNLJMP:3HMVI3QICLV6PIN6X3BUKNYUKZLY1J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.27518, -3.21318, 6.82451 ], "start_rotation": [ 0, 0.20167, 0, 0.97945 ], "object_category": "picture", "info": { "geodesic_distance": 4.51788, "euclidean_distance": 3.68828, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.03623, -3.21318, 4.82434 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A26LOVXF4QZZCO:38SKSKU7R30XPPC5MV7AIEDKSMGILR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.17459, -3.21318, 7.28304 ], "start_rotation": [ 0, 0.79783, 0, 0.60288 ], "object_category": "plant", "info": { "geodesic_distance": 4.92005, "euclidean_distance": 4.06676, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.17258, -3.21318, 3.30935 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3WYP994K19U1W4O339NBFJPBS9RY65", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.60124, 0.18682, 2.94103 ], "start_rotation": [ 0, 0.36875, 0, -0.92953 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.82284, "euclidean_distance": 1.11864, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.97548, 0.18682, 3.9533 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3HL8HNGX474IEW96WQYZA89XCZD9FY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.93575, 0.18682, 5.43625 ], "start_rotation": [ 0, 0.91456, 0, 0.40446 ], "object_category": "chair", "info": { "geodesic_distance": 3.21357, "euclidean_distance": 2.92275, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.33818, 0.15293, 3.07254 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3B1P3B6X3AM2B:30MVJZJNHOGYJYV2FGPKP61P57VJ9E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.11283, 0.18682, 9.43582 ], "start_rotation": [ 0, 0.99274, 0, -0.12026 ], "object_category": "towel", "info": { "geodesic_distance": 6.98419, "euclidean_distance": 5.45986, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.56227, 0.18682, 5.232 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A19317A3X87NVM:3W2LOLRXLDIZYIX6RIPIH61WQIQRKX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.29721, -3.21318, 3.47882 ], "start_rotation": [ 0, 0.19876, 0, 0.98005 ], "object_category": "towel", "info": { "geodesic_distance": 5.85454, "euclidean_distance": 3.35954, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.46014, -3.21318, 0.07478 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IGI0VL649NX9BQTW30UF3DV9PCONP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.60713, -3.21318, 10.55678 ], "start_rotation": [ 0, 0.23341, 0, 0.97238 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.73291, "euclidean_distance": 4.93489, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94506, 0.18682, 6.96274 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AZPZDX26SYMFY:340UGXU9D045ULJZUGYUOQZXDFUVUK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.00423, 0.2378, 0.74393 ], "start_rotation": [ 0, 0.12919, 0, 0.99162 ], "object_category": "counter", "info": { "geodesic_distance": 9.49898, "euclidean_distance": 6.61995, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.55868, 0.18682, 5.60477 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3GNCZX450KQ8AS852Z84IXYLKO4PAK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.35715, -3.21318, 6.4679 ], "start_rotation": [ 0, 0.70981, 0, -0.70439 ], "object_category": "cushion", "info": { "geodesic_distance": 4.17515, "euclidean_distance": 3.86025, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.91828, -3.21318, 3.33887 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:39GHHAVOMHUXMSPQYLTT8YQ9JEE4JY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.00156, 0.18682, 2.24806 ], "start_rotation": [ 0, 0.38348, 0, 0.92355 ], "object_category": "seating", "info": { "geodesic_distance": 6.71283, "euclidean_distance": 4.79147, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14598, 0.18682, 6.72445 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3K3R2QNK8D67XE6WRFTYW8A0MMKU9A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.32797, 0.18682, 7.30393 ], "start_rotation": [ 0, 0.94339, 0, -0.33168 ], "object_category": "seating", "info": { "geodesic_distance": 3.31746, "euclidean_distance": 3.31726, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04896, 0.18682, 6.55758 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3RYI5HXC2MJLN:386PBUZZXH0TK0WB4DSAUFSK51DJLC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.36029, 0.19171, 2.10176 ], "start_rotation": [ 0, 0.43221, 0, -0.90177 ], "object_category": "chair", "info": { "geodesic_distance": 1.98715, "euclidean_distance": 1.752, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.40025, 0.18682, 3.40342 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "ARQR5NIFA1AJ:3M0BCWMB8XZ3DBAYKZMV52QNV3SBWW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.35082, 0.18682, 0.41475 ], "start_rotation": [ 0, 0.80027, 0, -0.59964 ], "object_category": "plant", "info": { "geodesic_distance": 8.23428, "euclidean_distance": 6.4074, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.23109, 0.18682, 6.7943 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "41f833ed92c0489bb85a911668189278", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", [ "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AHIJACUG7ZL9B:3M0NZ3JDP315IQYUUCFP1KKD297Z56", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.6507, -1.88079, 10.23968 ], "start_rotation": [ 0, 0.97608, 0, 0.21739 ], "object_category": "cushion", "info": { "geodesic_distance": 11.28611, "euclidean_distance": 9.61538, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.90253, -3.21318, 3.34645 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3XLBSAQ9Z6FK5UCDI5UMZ4Y9TFMZ75", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.94076, 0.18682, 2.97947 ], "start_rotation": [ 0, 0.99067, 0, -0.13632 ], "object_category": "counter", "info": { "geodesic_distance": 3.15745, "euclidean_distance": 2.8271, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.88937, 0.18682, 4.8526 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3L8LSM7V7KX3T:3A4TN5196ML4QQ7F30WQFJMIYZQHCI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.89183, -3.21318, 10.23493 ], "start_rotation": [ 0, 0.26647, 0, 0.96384 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.38854, "euclidean_distance": 6.84203, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.12245, 0.18682, 7.19617 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3ATTHHXXWCRSPJTU0EAYT887ZUOIX9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38273, 0.0711, -0.12186 ], "start_rotation": [ 0, 0.2252, 0, 0.97431 ], "object_category": "cushion", "info": { "geodesic_distance": 6.17239, "euclidean_distance": 4.93126, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.70166, 0.18682, 4.24873 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:30BUDKLTXFY77V7YYP1CGAJVE3KE51", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.35803, -3.21318, 7.43768 ], "start_rotation": [ 0, 0.32304, 0, -0.94639 ], "object_category": "picture", "info": { "geodesic_distance": 3.593, "euclidean_distance": 3.37951, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.10174, -3.21318, 4.90038 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A13WYZ8AXD6ODX:3QY5DC2MXTNGYOX9U1TQ64WBPKIFUQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.50455, -3.21318, 3.34828 ], "start_rotation": [ 0, 0.55588, 0, 0.83126 ], "object_category": "chair", "info": { "geodesic_distance": 1.71595, "euclidean_distance": 1.48575, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.78522, -3.21318, 4.61893 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0" ] }, { "episode_id": "AXAO7UJYYEFCO:339ANSOTR75M5JUN1VV93E053LHKIU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.12675, -3.21318, 6.96344 ], "start_rotation": [ 0, 0.96086, 0, 0.27704 ], "object_category": "bed", "info": { "geodesic_distance": 20.23869, "euclidean_distance": 4.4258, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.38608, 0.18682, 6.86045 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A2TUUIV61CR0C7:33OOO72IVJOUVZYA3UDFT2P69TLCTN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.29843, -3.21318, 6.78417 ], "start_rotation": [ 0, 0.73218, 0, -0.68111 ], "object_category": "cushion", "info": { "geodesic_distance": 4.29062, "euclidean_distance": 3.79316, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.89041, -3.21318, 3.26955 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3RR85PK3AV9TU:3ZWFC4W1UWAOIW5SQ7YL1T9RIMPRFB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.1018, 0.18682, 8.75692 ], "start_rotation": [ 0, 0.76503, 0, -0.64399 ], "object_category": "table", "info": { "geodesic_distance": 6.86509, "euclidean_distance": 6.01754, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.19883, 0.17341, 3.19568 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3FDJT1UU76BATVZ8UBCFE5W0Y0U5KQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.445, 0.01421, 2.32574 ], "start_rotation": [ 0, 0.86213, 0, -0.50669 ], "object_category": "seating", "info": { "geodesic_distance": 7.32534, "euclidean_distance": 6.13842, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.00356, 0.18682, 6.68689 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3I7DHKZYGP3ZD97UT0LIYS4VQ4K5FV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.27925, -0.18771, 8.53904 ], "start_rotation": [ 0, 0.96936, 0, 0.24565 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.24889, "euclidean_distance": 4.76873, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.92795, 0.18682, 6.9687 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3SKRO2GZ73UB5DYPTOA3BFJJMKQ1K5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.34919, 0.18682, 6.43112 ], "start_rotation": [ 0, 0.64487, 0, -0.7643 ], "object_category": "cushion", "info": { "geodesic_distance": 3.8096, "euclidean_distance": 3.25381, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.81719, 0.18682, 4.18023 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AIIOT9A7ARQZW:34Q075JO1ZG9SNRLPV0LSV4A8L310G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.43481, 0.08256, 2.49696 ], "start_rotation": [ 0, 0.9434, 0, 0.33166 ], "object_category": "bed", "info": { "geodesic_distance": 2.65548, "euclidean_distance": 2.04325, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80025, 0.18682, 4.03023 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A9K0CV70JWG1W:36AHBNMV1TF0HD3IDWVPLPZ39WVDYV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.8483, -3.21318, 7.27765 ], "start_rotation": [ 0, 0.32593, 0, 0.94539 ], "object_category": "seating", "info": { "geodesic_distance": 17.57348, "euclidean_distance": 3.58187, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.23086, 0.18682, 6.71871 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:34BBWHLWHCED0JO4Q9ECRPU0QSTIWR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.93313, -3.21318, 7.25703 ], "start_rotation": [ 0, 0.91854, 0, -0.39533 ], "object_category": "toilet", "info": { "geodesic_distance": 7.74238, "euclidean_distance": 7.27671, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.27274, -3.21318, -0.08441 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "AONSG5WOC3OX0:3I33IC7ZWH5CIL7Z01XSMKQS9EC2AA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.79997, -3.21318, 6.63401 ], "start_rotation": [ 0, 0.53675, 0, -0.84374 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 16.3302, "euclidean_distance": 4.28639, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.93384, 0.18682, 6.96044 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:33M4IA01QI45IIWDQ147709YMRYRXF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.79537, 0.18682, 7.5439 ], "start_rotation": [ 0, 0.85178, 0, 0.5239 ], "object_category": "shower", "info": { "geodesic_distance": 7.3847, "euclidean_distance": 6.9606, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71849, 0.18682, 5.40459 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AHIJACUG7ZL9B:3HL8HNGX474IEW96WQYZA89XCZEF95", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.61139, 0.18682, 2.71477 ], "start_rotation": [ 0, 0.99394, 0, 0.10993 ], "object_category": "plant", "info": { "geodesic_distance": 1.71708, "euclidean_distance": 1.51371, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.87945, 0.18682, 4.02235 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1P3HHEXWNLJMP:3C2NJ6JBKCKJ241O952X8QAS8LC2NV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.54697, 0.18682, 8.34559 ], "start_rotation": [ 0, 0.87331, 0, -0.48716 ], "object_category": "sofa", "info": { "geodesic_distance": 20.70322, "euclidean_distance": 5.9991, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82396, -3.21318, 3.68365 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AHIJACUG7ZL9B:3OVR4I9USRME8FT3TBD25Z2VXAC4QX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.00922, -3.21318, 10.03441 ], "start_rotation": [ 0, 0.66646, 0, -0.74554 ], "object_category": "seating", "info": { "geodesic_distance": 13.03594, "euclidean_distance": 5.17998, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08169, 0.18682, 6.67963 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AHIJACUG7ZL9B:3TR2532VIRXB1FT4H9M85WANF6Z6J2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.05401, 0.18682, 2.42963 ], "start_rotation": [ 0, 0.90938, 0, -0.41597 ], "object_category": "cushion", "info": { "geodesic_distance": 3.73327, "euclidean_distance": 3.24526, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71807, 0.18682, 4.0811 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JRJSWSMQJO4TGKUK6DJ1DLB07L3ES", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.89682, -3.21318, 4.97248 ], "start_rotation": [ 0, 0.66806, 0, -0.74411 ], "object_category": "bed", "info": { "geodesic_distance": 19.99321, "euclidean_distance": 6.22441, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.37016, 0.18682, 4.4125 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A302KOFOYLD89A:3UXUOQ9OKG0J4M456DENIB70KUJ7AG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.49373, 0.12598, 2.87247 ], "start_rotation": [ 0, 0.46697, 0, -0.88427 ], "object_category": "seating", "info": { "geodesic_distance": 6.08101, "euclidean_distance": 4.47284, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19557, 0.18682, 6.73077 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:388U7OUMF94XLSQ2NPF0YMMNCK70RN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.28322, -3.21318, 9.92266 ], "start_rotation": [ 0, 0.96466, 0, -0.26351 ], "object_category": "cushion", "info": { "geodesic_distance": 7.48247, "euclidean_distance": 6.92511, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.80729, -3.21318, 3.32984 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AOG0PUCLMU0HH:3S3AMIZX3W8NEA2DH4D0OY7K67UDC2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.02181, -3.21318, 2.27614 ], "start_rotation": [ 0, 0.88757, 0, -0.46067 ], "object_category": "counter", "info": { "geodesic_distance": 3.73219, "euclidean_distance": 2.45424, "closest_goal_object_id": 210, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.25954, -3.21318, 0.04027 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "refined_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:3FK0YFF9P1J5708ZZ68ZKC1GRLGVVK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.95739, 0.04526, -0.90046 ], "start_rotation": [ 0, 0.96528, 0, 0.2612 ], "object_category": "bed", "info": { "geodesic_distance": 6.1108, "euclidean_distance": 5.23059, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.86265, 0.18682, 3.99641 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A9K0CV70JWG1W:3HWRJOOET758DX59ALEK9LTNSMFSE2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.44952, -3.21318, 10.30943 ], "start_rotation": [ 0, 0.45875, 0, 0.88857 ], "object_category": "towel", "info": { "geodesic_distance": 12.45496, "euclidean_distance": 10.87863, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.3638, -3.21318, 0.08966 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_60_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3634BBTX0QXBPX290K4CN180VP0FIN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.54847, 0.18682, 4.14272 ], "start_rotation": [ 0, 0.99972, 0, -0.02366 ], "object_category": "towel", "info": { "geodesic_distance": 2.6741, "euclidean_distance": 2.28921, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.50774, 0.18682, 5.35941 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AXAO7UJYYEFCO:308Q0PEVBAG2ONBWXY4KD5MPSSII9D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.37436, -3.21318, 4.89635 ], "start_rotation": [ 0, 0.5256, 0, 0.85073 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.29066, "euclidean_distance": 7.64403, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.05523, 0.18682, 7.19591 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "0_edge_34_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ACI0C2WU1NABK:30BXRYBRP60D4ODKKRWRRDTLQGOHW9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.09022, 0.18682, 4.21072 ], "start_rotation": [ 0, 0.10151, 0, -0.99483 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.98447, "euclidean_distance": 2.79039, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.87785, 0.18682, 7.09718 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3ZV9H2YQQFAYAG6L567PNJSB6XG3W5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.2613, 0.24166, 2.56742 ], "start_rotation": [ 0, 0.30433, 0, -0.95257 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.48886, "euclidean_distance": 2.13381, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.94569, 0.18682, 4.25842 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "AZPZDX26SYMFY:3Y54SXRO1NOQHTFAPLYFN8BCGPXTUB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.03523, 0.18682, 8.64892 ], "start_rotation": [ 0, 0.93346, 0, 0.35867 ], "object_category": "picture", "info": { "geodesic_distance": 2.65749, "euclidean_distance": 2.49985, "closest_goal_object_id": 21, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19029, 0.18682, 6.33939 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:392CY0QWG3U1RH5KG38TWXB96UA4IX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.87837, -3.21318, 6.21093 ], "start_rotation": [ 0, 0.22113, 0, 0.97525 ], "object_category": "seating", "info": { "geodesic_distance": 17.13312, "euclidean_distance": 3.51867, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.1203, 0.18682, 6.80579 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_60_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:34Z02EIMIUGA173UREKVY1N50YI0T0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.38255, -3.21318, 5.12909 ], "start_rotation": [ 0, 0.99885, 0, 0.04785 ], "object_category": "seating", "info": { "geodesic_distance": 19.42481, "euclidean_distance": 3.74772, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15905, 0.18682, 6.72384 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3TUI152ZZDQXGGWK6TU071VSLJ3Q1T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.27157, 0.18682, 2.97204 ], "start_rotation": [ 0, 0.99811, 0, -0.06144 ], "object_category": "seating", "info": { "geodesic_distance": 6.64671, "euclidean_distance": 5.56879, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.01088, 0.18682, 6.64621 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3YGXWBAF72KAEEJKOTC7LUDESJH4C9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.4936, -3.21318, 1.5298 ], "start_rotation": [ 0, 0.64142, 0, -0.76719 ], "object_category": "bed", "info": { "geodesic_distance": 22.85417, "euclidean_distance": 6.54432, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.26392, 0.18682, 4.32797 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A2AAY4VT9L71SY:39GAF6DQWT3PLOS1SSOADOU02BLV1V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.87916, -3.21318, 0.11857 ], "start_rotation": [ 0, 0.27077, 0, -0.96264 ], "object_category": "picture", "info": { "geodesic_distance": 4.36362, "euclidean_distance": 3.69825, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.17046, -3.21318, 3.18585 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2MCG5W6LHSRG9:3SITXWYCNXCI2BFOU4IH7L4U403BXK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.2658, -3.21318, 10.18519 ], "start_rotation": [ 0, 0.88545, 0, -0.46474 ], "object_category": "towel", "info": { "geodesic_distance": 11.73484, "euclidean_distance": 10.40235, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.43937, -3.21318, 0.09583 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "902b0496eeb94742995708a15c69bb26", "path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A35NXCD0VE2I69:3KMS4QQVK4T2VSSX0NPO0HNDNN7KF9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.23712, 0.18682, 7.23887 ], "start_rotation": [ 0, 0.10575, 0, 0.99439 ], "object_category": "sink", "info": { "geodesic_distance": 3.58356, "euclidean_distance": 2.83148, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90323, 0.18682, 5.60275 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "AY7WPVKHVNBLG:3Z7ISHFUH2YO58HWSAMSD4U44SO8ZJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.26984, 0.18682, 2.83405 ], "start_rotation": [ 0, 0.69137, 0, -0.7225 ], "object_category": "toilet", "info": { "geodesic_distance": 4.23574, "euclidean_distance": 3.83762, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.12632, 0.18682, 5.39418 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ARQR5NIFA1AJ:3WJ1OXY92CJN409OGI6TWB3VVAW8A3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.42355, -3.21318, 8.72389 ], "start_rotation": [ 0, 0.76978, 0, 0.63831 ], "object_category": "picture", "info": { "geodesic_distance": 4.92001, "euclidean_distance": 4.33586, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.09634, -3.21318, 5.05131 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2MCG5W6LHSRG9:3QJOXOW4XLU5F2S4QOIYXCUHZJEME8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.53395, 0.13425, -0.50868 ], "start_rotation": [ 0, 0.43978, 0, -0.8981 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.97975, "euclidean_distance": 3.77352, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.40868, 0.15604, 3.10446 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A2Q6L9LKSNU7EB:30LSNF239WYRO3QXCPP53IEBLCD2IP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.0087, 0.18682, 4.98837 ], "start_rotation": [ 0, 0.89082, 0, 0.45435 ], "object_category": "sink", "info": { "geodesic_distance": 2.90989, "euclidean_distance": 2.65917, "closest_goal_object_id": 16, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.46756, 0.18682, 2.79713 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A1P3HHEXWNLJMP:37WLF8U1WRT6CZZMZUMK6BA0TGVK6G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.13108, 0.18976, 2.39838 ], "start_rotation": [ 0, 0.93834, 0, -0.34573 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.63635, "euclidean_distance": 2.18461, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.89816, 0.18682, 4.30318 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "ACI0C2WU1NABK:3FPRZHYEP0ALVR6GFW2T1H9XZOE3VV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.15964, 0.18682, 7.06433 ], "start_rotation": [ 0, 0.72176, 0, 0.69215 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.21568, "euclidean_distance": 2.71421, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.20666, 0.18682, 4.31783 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A75XDPFNICR3T:30X31N5D65T5NKOXUGCYD23W6WVASG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.26338, 0.18682, 9.3625 ], "start_rotation": [ 0, 0.9402, 0, -0.34063 ], "object_category": "cushion", "info": { "geodesic_distance": 4.13459, "euclidean_distance": 3.88901, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.86639, 0.18682, 7.07007 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:351SEKWQS2K0NWE4UT7ERUCWZCRDMU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.84544, 0.18682, 7.01992 ], "start_rotation": [ 0, 0.99887, 0, -0.04748 ], "object_category": "shower", "info": { "geodesic_distance": 6.39273, "euclidean_distance": 5.90093, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.91444, 0.18682, 5.37579 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3AMYWKA6YDPP2QK1XMEDDSR9DQE6O5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.85105, -1.73508, 10.41012 ], "start_rotation": [ 0, 0.85598, 0, -0.51701 ], "object_category": "plant", "info": { "geodesic_distance": 7.47886, "euclidean_distance": 2.56283, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.82585, 0.18682, 9.03145 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "ACI0C2WU1NABK:3TPZPLC3M2F8Q79KTKTUVPKFE9EP3G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.60161, -3.21318, 1.14748 ], "start_rotation": [ 0, 0.98681, 0, 0.16191 ], "object_category": "bed", "info": { "geodesic_distance": 23.25016, "euclidean_distance": 6.79965, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.17332, 0.18682, 4.28758 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1198W1SPF1R4:3P59JYT76NNHXH6861O9HPGKWT4T28", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.97283, 0.18682, 4.47488 ], "start_rotation": [ 0, 0.51629, 0, 0.85642 ], "object_category": "toilet", "info": { "geodesic_distance": 4.79625, "euclidean_distance": 1.9701, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.16379, 0.18682, 5.39928 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:33M4IA01QI45IIWDQ147709YMKNXRW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.3563, 0.18682, 2.12844 ], "start_rotation": [ 0, 0.81728, 0, -0.57624 ], "object_category": "sofa", "info": { "geodesic_distance": 23.17173, "euclidean_distance": 3.91646, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83739, -3.21318, 3.59924 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3U5NZHP4LT5NKFGJ85IWZJLPXE2HPL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.15143, 0.18682, 8.79484 ], "start_rotation": [ 0, 0.81301, 0, 0.58225 ], "object_category": "toilet", "info": { "geodesic_distance": 6.07541, "euclidean_distance": 4.48416, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.08868, 0.18682, 5.43256 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A302KOFOYLD89A:3B837J3LDQZXM1AEWRYK8SS677KSRM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.54933, 0.18682, 5.25823 ], "start_rotation": [ 0, 0.304, 0, -0.95267 ], "object_category": "bed", "info": { "geodesic_distance": 3.15198, "euclidean_distance": 1.26322, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.84127, 0.18682, 4.04319 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3DR23U6WE7H9SXIOZLJAJQP9TSJETC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.00184, 0.18682, 7.21226 ], "start_rotation": [ 0, 0.75467, 0, -0.6561 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.01675, "euclidean_distance": 2.96077, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.12394, 0.18682, 4.31516 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A3GWRDHAURRNK6:3TS1AR6UQSHE0DLDHT0FWCIRH2ZF7O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.54807, 0.18682, 6.50615 ], "start_rotation": [ 0, 0.90457, 0, -0.42633 ], "object_category": "sofa", "info": { "geodesic_distance": 17.92427, "euclidean_distance": 5.63446, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.87738, -3.21318, 3.58764 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3O6CYIULEF4I9AJ4KQ3QASIBJDLWUX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.47952, -3.21318, 3.29851 ], "start_rotation": [ 0, 0.07687, 0, 0.99704 ], "object_category": "sink", "info": { "geodesic_distance": 4.87158, "euclidean_distance": 3.27379, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.08576, -3.21318, 0.04468 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A19C2SO0IMRZ1L:3SKRO2GZ73UB5DYPTOA3BFJJLANK10", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.94114, 0.18682, 7.20528 ], "start_rotation": [ 0, 0.86288, 0, -0.50541 ], "object_category": "chair", "info": { "geodesic_distance": 6.53903, "euclidean_distance": 5.94184, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12148, 0.18682, 5.59502 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A3RR85PK3AV9TU:3R6P78PK7ME7CBEF5G9YJTAL6CATGS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.53096, -3.21318, 5.97949 ], "start_rotation": [ 0, 0.82759, 0, -0.56133 ], "object_category": "shower", "info": { "geodesic_distance": 16.62635, "euclidean_distance": 4.14549, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.92139, 0.18682, 5.52299 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AW1QY7Q83DYCJ:384PI804XU49M7QF2EF5OWRJYIW0S9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.41302, 0.18682, 7.40656 ], "start_rotation": [ 0, 0.90671, 0, 0.42175 ], "object_category": "chair", "info": { "geodesic_distance": 5.03776, "euclidean_distance": 4.55925, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11598, 0.18682, 5.57441 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3K772S5NPAEJNORTZR2L57MLI1UHEH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.73319, -3.21318, 9.90141 ], "start_rotation": [ 0, 0.82654, 0, -0.56288 ], "object_category": "seating", "info": { "geodesic_distance": 14.45051, "euclidean_distance": 4.75889, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11251, 0.18682, 6.74724 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", [ "0_edge_14_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee" ], "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:3VSOLARPKDCNYKTDCVXX9ZK095M39P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.87287, -0.01318, -0.06365 ], "start_rotation": [ 0, 0.68596, 0, -0.72764 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.60595, "euclidean_distance": 4.98775, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.23647, 0.18682, 4.31152 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "AZPZDX26SYMFY:3GD6L00D3U06V1YSE0NJQSBNAFMM1B", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.47213, 0.23867, 1.65996 ], "start_rotation": [ 0, 0.65242, 0, -0.75786 ], "object_category": "bed", "info": { "geodesic_distance": 2.81697, "euclidean_distance": 2.60833, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.65493, 0.18682, 4.18252 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3U088ZLJVMW2TO7OMJP6LLU43NB0WQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.56999, -3.21318, 3.64293 ], "start_rotation": [ 0, 0.7404, 0, -0.67217 ], "object_category": "shower", "info": { "geodesic_distance": 20.33662, "euclidean_distance": 6.64255, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90408, 0.18682, 5.42626 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "b2157583eedf426383de6e6e9753a4da", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3SBEHTYCWP6HPOJ45AW0CMFG0POIYY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.91615, -2.41501, 10.42265 ], "start_rotation": [ 0, 0.01303, 0, -0.99992 ], "object_category": "sink", "info": { "geodesic_distance": 2.32438, "euclidean_distance": 2.19204, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.22805, -3.21318, 9.49579 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOMFEAWQHU3D8:3HYA4D452TM7ECO7BHJK0L1J6NNF2K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.65624, -3.21318, 8.7053 ], "start_rotation": [ 0, 0.95914, 0, -0.28294 ], "object_category": "picture", "info": { "geodesic_distance": 4.94787, "euclidean_distance": 4.44262, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11818, -3.21318, 5.03743 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A2MCG5W6LHSRG9:3LYA37P8ISQCIBGHVL3SHRWS7K1BKT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.02273, 0.18682, 9.78163 ], "start_rotation": [ 0, 0.28447, 0, 0.95868 ], "object_category": "table", "info": { "geodesic_distance": 7.81983, "euclidean_distance": 6.96166, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.16497, 0.17434, 3.18402 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1198W1SPF1R4:3RGU30DZTCBDQIEW4PTPUS79518JM9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.49078, -0.08148, 8.48992 ], "start_rotation": [ 0, 0.9532, 0, -0.30235 ], "object_category": "cushion", "info": { "geodesic_distance": 8.21921, "euclidean_distance": 4.55659, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.62129, 0.18682, 4.24015 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3BDCF01OGZXJFPRAQDTD4278IXULY0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.53367, -3.21318, 10.10293 ], "start_rotation": [ 0, 0.99497, 0, -0.1002 ], "object_category": "picture", "info": { "geodesic_distance": 5.91197, "euclidean_distance": 5.28187, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.20318, -3.21318, 4.94101 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3WAKVUDHUYJ3JVI3CIVEICJUQLAU7P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.2262, 0.18682, 3.31246 ], "start_rotation": [ 0, 0.28372, 0, 0.95891 ], "object_category": "plant", "info": { "geodesic_distance": 5.13297, "euclidean_distance": 4.52683, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.24051, 0.18682, 6.85389 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:336KAV9KYSVDE352G7B8P68ZCYP2YG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13367, 0.18682, 5.5539 ], "start_rotation": [ 0, 0.06851, 0, -0.99765 ], "object_category": "counter", "info": { "geodesic_distance": 4.24135, "euclidean_distance": 2.67378, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.63367, 0.18682, 5.59154 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A28U7B76HLCS1U:3QXNC7EIPKYRHSUGT8FE71MT6RZ90T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.9842, 0.18682, 5.38938 ], "start_rotation": [ 0, 0.08697, 0, -0.99621 ], "object_category": "plant", "info": { "geodesic_distance": 2.61246, "euclidean_distance": 2.17907, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.26315, 0.18682, 6.70806 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0e45c1af5098415c9bbd3a6ce537c7cb", "path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "ff561930e4314f5c8af26ebaf5bed637", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A314XJY8V1YL12:3I3WADAZ9S7TJMKNS348LMD9HVX5OI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.0072, 0.22973, 1.01502 ], "start_rotation": [ 0, 0.30436, 0, 0.95256 ], "object_category": "sofa", "info": { "geodesic_distance": 26.08839, "euclidean_distance": 4.45728, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.77482, -3.21318, 3.64663 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3U5JL4WY5MCYHCUFFP8UZ7YOU6RX41", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.0571, 0.18682, 0.97396 ], "start_rotation": [ 0, 0.75518, 0, 0.65552 ], "object_category": "sofa", "info": { "geodesic_distance": 24.26988, "euclidean_distance": 4.41038, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.89221, -3.21318, 3.60655 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AZPZDX26SYMFY:3DH6GAKTY0S3KE8E5EKMCHI6X7RZYO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.32854, 0.18682, 6.47392 ], "start_rotation": [ 0, 0.71106, 0, 0.70313 ], "object_category": "shower", "info": { "geodesic_distance": 2.9758, "euclidean_distance": 2.71479, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.74889, 0.18682, 5.3307 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A16K7X677N4WN6:33TIN5LC06DOENQ11GQNZTGDI7F9Y1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.94631, 0.16031, 1.9771 ], "start_rotation": [ 0, 0.61813, 0, 0.78608 ], "object_category": "chair", "info": { "geodesic_distance": 5.55186, "euclidean_distance": 3.71571, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.37497, 0.14697, 3.02847 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2AAY4VT9L71SY:3IQ1VMJRYVNNI5SYLAC7W7Y6EAJA9M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.21099, -3.21318, 5.55504 ], "start_rotation": [ 0, 0.9999, 0, 0.01426 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.41239, "euclidean_distance": 6.96795, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.10269, 0.18682, 7.21218 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:33LK57MYLV86OSW568SXUVU5FH2SZZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.40094, 0.18682, 7.42303 ], "start_rotation": [ 0, 0.68102, 0, -0.73226 ], "object_category": "counter", "info": { "geodesic_distance": 3.92797, "euclidean_distance": 3.48283, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.66153, 0.18682, 5.64754 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A33VGSEJ44ORMF:3MD9PLUKKKH98F40YCBBV1KZTOXNZY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.21423, 0.00903, 8.17906 ], "start_rotation": [ 0, 0.99677, 0, 0.08028 ], "object_category": "shower", "info": { "geodesic_distance": 6.80203, "euclidean_distance": 3.05952, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.78469, 0.18682, 5.48249 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RR85PK3AV9TU:35DR22AR5FNDZGBBFB3BP26IFZM3XY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.39886, 0.18682, 9.49648 ], "start_rotation": [ 0, 0.36205, 0, 0.93216 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.96406, "euclidean_distance": 2.70258, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.12353, 0.18682, 6.88833 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A34CQE6RGU49L7:34QN5IT0T1UR3NB6OG9075RILHA80N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.72218, 0.18682, 2.61719 ], "start_rotation": [ 0, 0.30789, 0, 0.95142 ], "object_category": "sofa", "info": { "geodesic_distance": 22.61438, "euclidean_distance": 3.89489, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72911, -3.21318, 3.60352 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3SLE99ER0PG776F3VM6246K5BT8ZBX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.33299, -3.21318, 10.37853 ], "start_rotation": [ 0, 0.03258, 0, -0.99947 ], "object_category": "sofa", "info": { "geodesic_distance": 8.24339, "euclidean_distance": 7.49135, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81506, -3.21318, 3.56551 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "ALCPF5NANBDSZ:35H6S234SC33UGEJS7IE4MRIWTU56G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.84911, 0.18682, 4.59649 ], "start_rotation": [ 0, 0.30294, 0, 0.95301 ], "object_category": "sofa", "info": { "geodesic_distance": 19.62637, "euclidean_distance": 5.15012, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.77266, -3.21318, 3.67007 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3180JW2OT6FFIBTQCQC3DQWNIX5J5N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.59431, -3.21318, 9.95013 ], "start_rotation": [ 0, 0.49293, 0, -0.87007 ], "object_category": "toilet", "info": { "geodesic_distance": 7.37301, "euclidean_distance": 6.05683, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.54014, 0.19113, 6.91109 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A314XJY8V1YL12:32VNZTT0A97EKG836Q22APC0TR2R4Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30606, 0.18682, 9.99558 ], "start_rotation": [ 0, 0.99994, 0, 0.01088 ], "object_category": "towel", "info": { "geodesic_distance": 7.37081, "euclidean_distance": 6.40978, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.4163, 0.18682, 5.30346 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3M23Y66PO4A40ICU43VMXX1ABJI6SC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.71743, 0.18682, 2.4115 ], "start_rotation": [ 0, 0.9704, 0, -0.2415 ], "object_category": "counter", "info": { "geodesic_distance": 3.57911, "euclidean_distance": 3.39929, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.7601, 0.18682, 4.97749 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X0H8UUIT3R2UXR0VL8QVR0NYH9WSS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.58684, 0.18682, 4.18816 ], "start_rotation": [ 0, 0.64788, 0, 0.76175 ], "object_category": "plant", "info": { "geodesic_distance": 4.04721, "euclidean_distance": 3.44674, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22903, 0.18682, 6.85286 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1" ] }, { "episode_id": "ACM3TPZKLE7WC:3G0WWMR1UXN0UN39BGSY488VNCYQNA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.38553, -0.34634, 8.80585 ], "start_rotation": [ 0, 0.2117, 0, -0.97734 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.39228, "euclidean_distance": 2.65857, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07402, 0.18682, 7.59095 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A2TUUIV61CR0C7:3SPJ0334236DKZ3ANSH0ONUGD27JY1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.27201, 0.18682, 0.18676 ], "start_rotation": [ 0, 0.99634, 0, -0.08548 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.8106, "euclidean_distance": 3.482, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.9133, 0.18682, 3.18477 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A19C2SO0IMRZ1L:3ZQIG0FLQGJIMP84PGDV6EKUYRAWVH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.31914, 0.18682, 0.78005 ], "start_rotation": [ 0, 0.04649, 0, -0.99892 ], "object_category": "bed", "info": { "geodesic_distance": 5.42451, "euclidean_distance": 4.75533, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.76085, 0.18682, 4.0804 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", [ "0_edge_58_newN_0" ], "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3V5Q80FXIZUCY08ERMIIZCCM3WQ234", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.48448, 0.18682, 6.92112 ], "start_rotation": [ 0, 0.66854, 0, 0.74367 ], "object_category": "sofa", "info": { "geodesic_distance": 17.87208, "euclidean_distance": 5.82092, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80481, -3.21318, 3.62343 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3TXWC2NHN1TRI1ES2AYYH7SC1I9S9O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.1357, 0.18682, 7.36717 ], "start_rotation": [ 0, 0.39355, 0, 0.9193 ], "object_category": "sink", "info": { "geodesic_distance": 3.51498, "euclidean_distance": 2.8327, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.86984, 0.18682, 5.47092 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3K1P4SPR8XS7R:3PPTZCWALSNUBCHSE43SZVF4XR6QZT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.64962, -3.21318, 6.85034 ], "start_rotation": [ 0, 0.98286, 0, 0.18436 ], "object_category": "toilet", "info": { "geodesic_distance": 7.29895, "euclidean_distance": 6.88836, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.13375, -3.21318, -0.0205 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3KRVW3HTZPO6PLXMRJ23MTYW1IMMSP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.51803, 0.11177, -0.6729 ], "start_rotation": [ 0, 0.96831, 0, 0.24973 ], "object_category": "plant", "info": { "geodesic_distance": 8.70325, "euclidean_distance": 7.4306, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.34295, 0.18682, 6.8808 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A35NXCD0VE2I69:39LOEL67OU8NKFA373RJ93PPPYZ83Y", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.9837, -2.36949, 10.29001 ], "start_rotation": [ 0, 0.99635, 0, -0.08535 ], "object_category": "sofa", "info": { "geodesic_distance": 9.41588, "euclidean_distance": 8.30776, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83134, -3.21318, 3.7523 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3Z4AIRP3C8GHPDXWS7PS19RLIN3X1C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.66815, 0.19954, 2.03924 ], "start_rotation": [ 0, 0.74436, 0, -0.66777 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.74309, "euclidean_distance": 9.41186, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.22582, 0.18682, 7.10254 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3JNQLM5FT6PTE4Y3XSMIVY632GF2LB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.60228, 0.18682, 3.61058 ], "start_rotation": [ 0, 0.74977, 0, -0.6617 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.91375, "euclidean_distance": 2.7499, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.20101, 0.18682, 4.3509 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3E47SOBEYSZ4MLIZ9IEBFVNXY6TCII", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.2713, 0.18682, 5.18312 ], "start_rotation": [ 0, 0.96715, 0, 0.25422 ], "object_category": "table", "info": { "geodesic_distance": 7.07753, "euclidean_distance": 3.0831, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.20027, 0.16578, 3.12603 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "ALCPF5NANBDSZ:3LPW2N6LKV5OWR4KOPGHKS5YZGL5UT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.74101, -1.82046, 10.11036 ], "start_rotation": [ 0, 0.89013, 0, -0.45571 ], "object_category": "shower", "info": { "geodesic_distance": 10.18868, "euclidean_distance": 5.07535, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.83845, 0.18682, 5.40755 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_60_newN_0", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db" ], "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:34S9DKFK75S93PUV2Q9SHUBXMM6YNE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.23548, 0.18682, 0.69574 ], "start_rotation": [ 0, 0.94437, 0, -0.32889 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.30768, "euclidean_distance": 3.07647, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.03295, 0.1798, 3.15533 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AOMFEAWQHU3D8:3018Q3ZVOKTTM5OKFRCTNSY0KWPAR9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.30236, 0.18682, 8.75952 ], "start_rotation": [ 0, 0.76762, 0, 0.64091 ], "object_category": "table", "info": { "geodesic_distance": 7.22075, "euclidean_distance": 5.67729, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.00689, 0.18012, 3.06934 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A9K0CV70JWG1W:3A4NIXBJ782JL82W7A52A7K18KBMLZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.60678, 0.18682, 4.50399 ], "start_rotation": [ 0, 0.96449, 0, -0.26412 ], "object_category": "toilet", "info": { "geodesic_distance": 1.94545, "euclidean_distance": 1.78414, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.17458, 0.18682, 5.38633 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A16K7X677N4WN6:32Q90QCQ1UOAPES15C5IIZ2DBNIEKD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.44189, 0.18682, 7.19355 ], "start_rotation": [ 0, 0.99691, 0, -0.07861 ], "object_category": "sink", "info": { "geodesic_distance": 1.90904, "euclidean_distance": 1.72599, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.83698, 0.18682, 5.56065 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A28U7B76HLCS1U:39LNWE0K4WZ08FZZV9ZB919343FIU6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.63011, 0.18682, 3.8941 ], "start_rotation": [ 0, 0.87968, 0, 0.47557 ], "object_category": "shower", "info": { "geodesic_distance": 3.36194, "euclidean_distance": 1.83398, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.77713, 0.18682, 5.27935 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A75XDPFNICR3T:39GXDJN2OVH7WOCMRDXPSYH8GJZV8R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.06656, 0.18682, 7.41448 ], "start_rotation": [ 0, 0.34473, 0, -0.9387 ], "object_category": "shower", "info": { "geodesic_distance": 6.23756, "euclidean_distance": 2.31454, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90599, 0.18682, 5.5507 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3DBQWDE4Y81B11KBRO4V6XD4SPYN50", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.31332, -2.88051, 10.04331 ], "start_rotation": [ 0, 0.10028, 0, 0.99496 ], "object_category": "picture", "info": { "geodesic_distance": 6.38325, "euclidean_distance": 4.90437, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.78559, 0.18682, 6.97269 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A221PNPQRV4FC4:34QN5IT0T1UR3NB6OG9075RIMN808Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.53131, -1.18921, 10.484 ], "start_rotation": [ 0, 0.88183, 0, -0.47157 ], "object_category": "cushion", "info": { "geodesic_distance": 10.37474, "euclidean_distance": 6.59671, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.83405, 0.18682, 4.25272 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AKYXQY5IP7S0Z:3AQF3RZ55ALVWD78YJVNQYIVLOIF6L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.93877, -3.21318, 1.94512 ], "start_rotation": [ 0, 0.48326, 0, 0.87547 ], "object_category": "bathtub", "info": { "geodesic_distance": 16.1954, "euclidean_distance": 9.42251, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.11981, 0.18682, 7.37693 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3VAR3R6G1R4C643PQ1BBX6N0JL58OU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.23967, 0.18682, -0.42978 ], "start_rotation": [ 0, 0.88525, 0, 0.46511 ], "object_category": "sink", "info": { "geodesic_distance": 6.30664, "euclidean_distance": 6.00552, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.13098, 0.18682, 5.30834 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3K1P4SPR8XS7R:3ON104KXQMZJSCPP5KC8XOKHL4XW4J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.1418, 0.18682, 7.20076 ], "start_rotation": [ 0, 0.94371, 0, -0.33079 ], "object_category": "sink", "info": { "geodesic_distance": 3.48258, "euclidean_distance": 2.73259, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90255, 0.18682, 5.49301 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3GWRDHAURRNK6:32XVDSJFP10DKMGOX4NXVBLS3OBM2A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.21511, 0.18682, 7.41603 ], "start_rotation": [ 0, 0.7201, 0, 0.69387 ], "object_category": "chair", "info": { "geodesic_distance": 5.83366, "euclidean_distance": 5.31126, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12499, 0.18682, 5.7286 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A75XDPFNICR3T:38SKSKU7R30XPPC5MV7AIEDKSFJLIJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.76651, 0.18682, -0.33094 ], "start_rotation": [ 0, 0.99366, 0, 0.11243 ], "object_category": "counter", "info": { "geodesic_distance": 6.30852, "euclidean_distance": 5.75828, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.78607, 0.18682, 5.03395 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3L8LSM7V7KX3T:3TE3O85732B4H2TG2CJEHAF283A2RX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.88971, 0.18682, 7.35412 ], "start_rotation": [ 0, 0.97403, 0, 0.2264 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.91374, "euclidean_distance": 3.42635, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.27938, 0.18682, 4.34032 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A75XDPFNICR3T:3JBT3HLQFA59B0GDERO3ZQPUT3VZP3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.53434, 0.11969, 2.82619 ], "start_rotation": [ 0, 0.50127, 0, -0.86529 ], "object_category": "bed", "info": { "geodesic_distance": 2.31431, "euclidean_distance": 1.7413, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80532, 0.18682, 4.03491 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A302KOFOYLD89A:34X6J5FLPV14BXCOWI06B1REETIQJX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.25242, -3.21318, 1.08759 ], "start_rotation": [ 0, 0.52032, 0, 0.85397 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.46076, "euclidean_distance": 2.35722, "closest_goal_object_id": 223, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.75482, -3.21318, -0.01812 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "04cdd02138664b138f281bb5ad8b957f" ], "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6" ] }, { "episode_id": "A75XDPFNICR3T:3R6BYFZZP9F8FSR4Z64DQBVFJY9XF2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.42023, -3.21318, 3.49115 ], "start_rotation": [ 0, 0.33815, 0, 0.94109 ], "object_category": "toilet", "info": { "geodesic_distance": 4.10227, "euclidean_distance": 3.51011, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.2059, -3.21318, -0.10817 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:3R6P78PK7ME7CBEF5G9YJTAL68ATGK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.38733, 0.18682, 4.23237 ], "start_rotation": [ 0, 0.79932, 0, 0.60091 ], "object_category": "toilet", "info": { "geodesic_distance": 2.2843, "euclidean_distance": 1.35384, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.1828, 0.18682, 5.42432 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A5WWHKD82I8UE:3SUWZRL0M0G3QZ7C38BH8GXVAUA6EG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.52622, -3.21318, 6.5601 ], "start_rotation": [ 0, 0.87869, 0, 0.47739 ], "object_category": "sink", "info": { "geodesic_distance": 2.89598, "euclidean_distance": 2.71969, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.26796, -3.21318, 6.79066 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A272X64FOZFYLB:3WYGZ5XF3YIBZXXJ67PN7G6SBACKSW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.99342, 0.18682, 2.99435 ], "start_rotation": [ 0, 0.86869, 0, 0.49535 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.2444, "euclidean_distance": 0.93491, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.05594, 0.18682, 4.0502 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:3OUYGIZWR91C9FANAXBBTRM8ANFP0L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.83673, 0.18682, 9.35052 ], "start_rotation": [ 0, 0.43085, 0, 0.90242 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.58464, "euclidean_distance": 2.75744, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.13672, 0.18682, 6.91618 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A1P3HHEXWNLJMP:3K9FOBBF2JMP3QNWJBK2NM91D9RLN2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.02284, 0.18682, 8.48351 ], "start_rotation": [ 0, 0.7319, 0, 0.68141 ], "object_category": "bed", "info": { "geodesic_distance": 5.08317, "euclidean_distance": 4.64887, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.32297, 0.18682, 6.83935 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3TN1QCPUCJZBF:3WYGZ5XF3YIBZXXJ67PN7G6SB9PKS7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.23096, 0.18682, 7.45486 ], "start_rotation": [ 0, 0.14334, 0, -0.98967 ], "object_category": "sink", "info": { "geodesic_distance": 3.63093, "euclidean_distance": 2.96209, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.89852, 0.18682, 5.62646 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3BWI6RSP7ICMUZLHMIG9EUXR54LE7C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.74378, 0.03881, 0.60152 ], "start_rotation": [ 0, 0.83817, 0, 0.54541 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.92735, "euclidean_distance": 4.48515, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.1943, 0.18682, 4.40827 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3TVRFO09GMIUFK10LH7BLO0ZGRILXC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.89441, 0.18682, 4.3577 ], "start_rotation": [ 0, 0.18535, 0, -0.98267 ], "object_category": "table", "info": { "geodesic_distance": 9.93323, "euclidean_distance": 5.07313, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.00747, 0.18004, 3.06739 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:379J5II41QJL9KAJQCHJXZFS0L7ELW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.04628, 0.18682, 9.07149 ], "start_rotation": [ 0, 0.71825, 0, 0.69579 ], "object_category": "toilet", "info": { "geodesic_distance": 6.10614, "euclidean_distance": 5.54329, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.21009, 0.18682, 5.43271 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A75XDPFNICR3T:3KOPY89HMA5C4W6MY7OAYTY343I3JP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.74531, 0.12938, 1.85707 ], "start_rotation": [ 0, 0.13021, 0, -0.99149 ], "object_category": "towel", "info": { "geodesic_distance": 6.35348, "euclidean_distance": 3.5545, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.59162, 0.18682, 5.26738 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A34CQE6RGU49L7:3JBT3HLQFA59B0GDERO3ZQPUT3ZPZX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.54679, -3.21318, 0.1351 ], "start_rotation": [ 0, 0.85598, 0, 0.51701 ], "object_category": "chair", "info": { "geodesic_distance": 6.38346, "euclidean_distance": 4.84852, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83134, -3.21318, 4.69976 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3WETL7AQWVB4XXR195KGXJFYN6R35G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.27863, 0.18682, 5.09519 ], "start_rotation": [ 0, 0.48426, 0, -0.87492 ], "object_category": "sofa", "info": { "geodesic_distance": 21.48523, "euclidean_distance": 3.88805, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72329, -3.21318, 3.66846 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2ZZW6KME1FUDU:32EYX73OY2CD1E2ILWTKNTAUS49RU5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61048, -3.21318, 9.34941 ], "start_rotation": [ 0, 0.20211, 0, -0.97936 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.30494, "euclidean_distance": 4.22273, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.7836, 0.18682, 7.0961 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:369J354OFFD1AD3393158JI7M266GX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.78628, -3.21318, 7.40963 ], "start_rotation": [ 0, 0.94525, 0, 0.32634 ], "object_category": "sink", "info": { "geodesic_distance": 5.27835, "euclidean_distance": 5.00045, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.25164, -3.21318, 6.82965 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", [ "bc280058ef514e16860da03ecb6cdb07" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2GQH4SWIOFH2L:36W0OB37HYHHYJIPVEGYQHN37D0HZX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.36981, 0.18682, 6.88528 ], "start_rotation": [ 0, 0.89765, 0, -0.4407 ], "object_category": "toilet", "info": { "geodesic_distance": 3.54272, "euclidean_distance": 3.14492, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07965, 0.18682, 5.43506 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3LO69W1SU5GJTY6AW777X204CZCGL0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.31193, 0.18682, 3.44611 ], "start_rotation": [ 0, 0.17911, 0, -0.98383 ], "object_category": "plant", "info": { "geodesic_distance": 5.07451, "euclidean_distance": 4.48351, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.18533, 0.18682, 6.75471 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A19C2SO0IMRZ1L:3KWTYT08726LD1HQFBOGT59FNVJ5L3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.4867, -3.21318, 8.14385 ], "start_rotation": [ 0, 0.9121, 0, 0.40998 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.60526, "euclidean_distance": 4.99491, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.05368, 0.18682, 7.29367 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1ATL3G98SFW4V:3GS6S824SS05EKZVNPR4WXQHCN1NWI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.59846, 0.18682, 6.24125 ], "start_rotation": [ 0, 0.09251, 0, -0.99571 ], "object_category": "counter", "info": { "geodesic_distance": 4.20173, "euclidean_distance": 3.2122, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.65219, 0.18682, 5.55384 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3QL2OFSM98LW0MTQ6YR3K3JEK6OCN1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.28598, 0.18682, 6.80372 ], "start_rotation": [ 0, 0.02986, 0, 0.99955 ], "object_category": "chair", "info": { "geodesic_distance": 1.83999, "euclidean_distance": 1.58272, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.18721, 0.18682, 5.59263 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AZPZDX26SYMFY:3NPI0JQDAQ8DPO7E8ZZLD2OD86GPTI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.03779, 0.18682, 8.84287 ], "start_rotation": [ 0, 0.36005, 0, -0.93293 ], "object_category": "towel", "info": { "geodesic_distance": 5.25375, "euclidean_distance": 3.66999, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.61653, 0.18682, 5.28747 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3K1P4SPR8XS7R:3Z4XG4ZF4AUZ0DHHRSY7GJETVOW8XJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.16688, 0.18682, 4.11886 ], "start_rotation": [ 0, 0.70149, 0, 0.71268 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.07506, "euclidean_distance": 2.8908, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.74602, 0.18682, 7.01208 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ACI0C2WU1NABK:3KV0LJBBH4OUO6X9CU2YWJT0E9ERM2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.15272, -0.95304, 9.5324 ], "start_rotation": [ 0, 0.99903, 0, -0.04398 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.24951, "euclidean_distance": 3.03172, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.94793, 0.18682, 7.57805 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A19C2SO0IMRZ1L:3QY5DC2MXTNGYOX9U1TQ64WBO7MFU3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.16761, -3.21318, 3.91436 ], "start_rotation": [ 0, 0.72691, 0, 0.68674 ], "object_category": "toilet", "info": { "geodesic_distance": 4.42059, "euclidean_distance": 4.16864, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.2192, -3.21318, -0.10905 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A22VLXXVIEJSD1:3WRFBPLXRCR8NMX7D5G2R0FKERYN3X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.21631, 0.18682, 2.84 ], "start_rotation": [ 0, 0.95821, 0, -0.28608 ], "object_category": "table", "info": { "geodesic_distance": 3.40694, "euclidean_distance": 2.01875, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.14799, 0.17172, 3.14961 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3DY4FPOOA3RDETRIQM3PJFCD6ACRVM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.44295, 0.18682, 3.06095 ], "start_rotation": [ 0, 0.84467, 0, -0.53529 ], "object_category": "sink", "info": { "geodesic_distance": 2.98682, "euclidean_distance": 2.78994, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.088, 0.18682, 5.29729 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AOMFEAWQHU3D8:3FE2ERCCZZBXCW26CIDMJSIQ8VFOP4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.32764, 0.18682, 6.99794 ], "start_rotation": [ 0, 0.84242, 0, -0.53881 ], "object_category": "plant", "info": { "geodesic_distance": 2.9789, "euclidean_distance": 2.68569, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.75684, 0.18682, 9.17972 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1P3HHEXWNLJMP:3WJEQKOXAA55T0P3HXXEH1GNGY11AA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.34824, -3.21318, 9.27631 ], "start_rotation": [ 0, 0.67266, 0, 0.73995 ], "object_category": "seating", "info": { "geodesic_distance": 15.67731, "euclidean_distance": 4.32547, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04834, 0.18682, 6.59432 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3TE3O85732B4H2TG2CJEHAF29EA2RK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30271, 0.18682, 9.97149 ], "start_rotation": [ 0, 0.99902, 0, -0.04422 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.31285, "euclidean_distance": 5.82761, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.16567, 0.18682, 6.93098 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:3JRJSWSMQJO4TGKUK6DJ1DLBZWQ3EA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.35216, 0.18682, 7.14757 ], "start_rotation": [ 0, 0.9998, 0, 0.01982 ], "object_category": "table", "info": { "geodesic_distance": 5.58466, "euclidean_distance": 4.35409, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.10454, 0.17159, 3.12234 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A33VGSEJ44ORMF:3MYYFCXHJ5ANVQZPQF8QBLYTRGX4GI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.68219, 0.18682, 2.27377 ], "start_rotation": [ 0, 0.19267, 0, -0.98126 ], "object_category": "toilet", "info": { "geodesic_distance": 5.03546, "euclidean_distance": 4.64848, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.17613, 0.18682, 5.41772 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:382M9COHEJIOSAXDZQ9KOMBBC8JEU0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30566, -3.21318, 6.01931 ], "start_rotation": [ 0, 0.12431, 0, 0.99224 ], "object_category": "bed", "info": { "geodesic_distance": 18.08877, "euclidean_distance": 3.53475, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.19029, 0.18682, 6.82811 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PM8NZGV80J56HHDDMF72AZTPTOQXG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.31943, -2.86746, 10.18173 ], "start_rotation": [ 0, 0.55128, 0, 0.83432 ], "object_category": "picture", "info": { "geodesic_distance": 6.37459, "euclidean_distance": 4.97795, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.77923, 0.18682, 7.09786 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3S06PH7KST73R7SF17OG72OT1ZG1DQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.05939, 0.18682, 6.24408 ], "start_rotation": [ 0, 0.84963, 0, -0.52738 ], "object_category": "counter", "info": { "geodesic_distance": 3.59041, "euclidean_distance": 2.57398, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.65626, 0.18682, 5.61454 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_34_newN_1", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "ARQR5NIFA1AJ:3N4BPTXIOAVREAPNVCKNMHOGXDHUKJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.42297, -3.21318, -0.02315 ], "start_rotation": [ 0, 0.0107, 0, 0.99994 ], "object_category": "seating", "info": { "geodesic_distance": 26.13494, "euclidean_distance": 7.88484, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.21823, 0.18682, 6.75332 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3A7Y0R2P2QROKUD0IWVY59N7C2VJXQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13604, -3.21318, 2.22491 ], "start_rotation": [ 0, 0.88191, 0, -0.47141 ], "object_category": "toilet", "info": { "geodesic_distance": 2.70413, "euclidean_distance": 2.49076, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.13662, -3.21318, -0.08647 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:3R2UR8A0ICJ2L54XY9N3D54TAU2XOF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.67787, -3.21318, 5.49591 ], "start_rotation": [ 0, 0.98642, 0, -0.16422 ], "object_category": "plant", "info": { "geodesic_distance": 5.37856, "euclidean_distance": 4.36807, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16003, -3.21318, 3.31416 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A1P3HHEXWNLJMP:3WS1NTTKE0F0I2LTWUF6HX848LQF0E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.06173, -3.21318, 7.19472 ], "start_rotation": [ 0, 0.46044, 0, -0.88769 ], "object_category": "seating", "info": { "geodesic_distance": 18.79292, "euclidean_distance": 4.05611, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08533, 0.18682, 6.70633 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", [ "bc280058ef514e16860da03ecb6cdb07" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3TOK3KHVJVL86QY6GWJ5J6R595LO7I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.40343, 0.18682, 4.25839 ], "start_rotation": [ 0, 0.28393, 0, -0.95884 ], "object_category": "counter", "info": { "geodesic_distance": 7.0108, "euclidean_distance": 5.11138, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.63343, 0.18682, 5.67063 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "91c5afdf381d439380d3ca8d6eb27b03", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2TUUIV61CR0C7:35USIKEBNTJ7K5KPW7E0Y3R4NCCN62", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.49398, 0.10609, 8.27744 ], "start_rotation": [ 0, 0.29827, 0, -0.95448 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.8955, "euclidean_distance": 2.53219, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.04963, 0.18682, 7.60809 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A9K0CV70JWG1W:3P529IW9K0ODFYAFLN1PFH0SCM4FLX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.99247, -1.17393, 9.76183 ], "start_rotation": [ 0, 0.9029, 0, 0.42986 ], "object_category": "table", "info": { "geodesic_distance": 8.92663, "euclidean_distance": 7.36695, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.60068, -3.21318, 7.37714 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2TUUIV61CR0C7:3OLQQLKKNUSFEUMJNR56HK20VQSJEC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.77676, 0.18682, 0.0844 ], "start_rotation": [ 0, 0.94577, 0, 0.32484 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.01699, "euclidean_distance": 3.34836, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.91433, 0.18682, 3.10358 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3NFGEUZAH9V5G:3F0BG9B9MRQK0428MJS3LXP7NG0Y7L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.7713, 0.18682, 8.68963 ], "start_rotation": [ 0, 0.50075, 0, -0.86559 ], "object_category": "seating", "info": { "geodesic_distance": 2.72425, "euclidean_distance": 2.57222, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.26349, 0.18682, 7.25272 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "AZPZDX26SYMFY:3FE7TXL1LKQ451EGPXUECK5XCKAQ2S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.21257, -3.21318, 7.24898 ], "start_rotation": [ 0, 0.53872, 0, -0.84249 ], "object_category": "plant", "info": { "geodesic_distance": 4.94907, "euclidean_distance": 4.04387, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.14518, -3.21318, 3.3327 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A33VGSEJ44ORMF:3AWETUDC94VHUET91WYJQTOI6JSIZP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.10442, 0.18682, 4.2407 ], "start_rotation": [ 0, 0.02018, 0, -0.9998 ], "object_category": "shower", "info": { "geodesic_distance": 3.59226, "euclidean_distance": 1.26668, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.87279, 0.18682, 5.23902 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3JWH6J9I9UGDQH1KSYV89JDW1F0BNS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.35535, 0.18682, 7.60068 ], "start_rotation": [ 0, 0.82962, 0, -0.55833 ], "object_category": "towel", "info": { "geodesic_distance": 7.70209, "euclidean_distance": 7.32814, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.60163, 0.18682, 5.273 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A1P3HHEXWNLJMP:3WSELTNVR5562K1CJGHON7ZI9NRAT4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.13941, 0.18682, 5.18751 ], "start_rotation": [ 0, 0.9563, 0, -0.29239 ], "object_category": "plant", "info": { "geodesic_distance": 2.57085, "euclidean_distance": 1.78403, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22849, 0.18682, 6.84665 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A1P3HHEXWNLJMP:3HUTX6F6VWQ1KP10AK2ANFAXYPZO22", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.8249, -3.21318, 10.06705 ], "start_rotation": [ 0, 0.11711, 0, 0.99312 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.44622, "euclidean_distance": 6.82232, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.03847, 0.18682, 7.26186 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOG0PUCLMU0HH:34Q075JO1ZG9SNRLPV0LSV4A8HT01X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.79871, 0.17826, 0.03034 ], "start_rotation": [ 0, 0.5268, 0, -0.84999 ], "object_category": "cushion", "info": { "geodesic_distance": 6.25297, "euclidean_distance": 5.115, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.69261, 0.18682, 4.26452 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:3KJYX6QCMBEWG585IHUGHOQMWU8VJQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.77505, -3.21318, 3.46762 ], "start_rotation": [ 0, 0.542, 0, -0.84038 ], "object_category": "chair", "info": { "geodesic_distance": 1.9449, "euclidean_distance": 1.53501, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79608, -3.21318, 4.6611 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:38YMOXR4MW2X7ZT3O85NUM4VGQ66W6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.5867, 0.18682, 2.93888 ], "start_rotation": [ 0, 0.44922, 0, -0.89342 ], "object_category": "cushion", "info": { "geodesic_distance": 1.83599, "euclidean_distance": 1.2554, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.95381, 0.18682, 4.05645 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3GDTJDAPVWEO61IDDLWY52YVOKC8MZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.58386, -3.21318, 9.772 ], "start_rotation": [ 0, 0.59791, 0, 0.80156 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.92269, "euclidean_distance": 4.46829, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.86485, 0.18682, 7.06422 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0" ], "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2MCG5W6LHSRG9:3X3OR7WPZ1340J0SD9VJ5PJ6OEN8LW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.46583, 0.18682, 1.80489 ], "start_rotation": [ 0, 0.62895, 0, 0.77744 ], "object_category": "table", "info": { "geodesic_distance": 10.81787, "euclidean_distance": 3.73588, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.13105, 0.16329, 3.06143 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ] }, { "episode_id": "A272X64FOZFYLB:3YWRV122CU27J9NMMNNKWCFP2ASU8Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.99628, -3.21318, 5.0103 ], "start_rotation": [ 0, 0.76154, 0, -0.64812 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.68612, "euclidean_distance": 8.14059, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.12492, 0.18682, 7.20005 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "0_edge_44_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2GQH4SWIOFH2L:386PBUZZXH0TK0WB4DSAUFSK5T8JLR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.76105, 0.18682, 8.85489 ], "start_rotation": [ 0, 0.73703, 0, -0.67586 ], "object_category": "table", "info": { "geodesic_distance": 6.93508, "euclidean_distance": 5.86454, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.06823, 0.16431, 3.03315 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AY7WPVKHVNBLG:3TESA3PJ33D3RQKH7M6HAKZQ9SPMMW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.85435, 0.26088, 1.46369 ], "start_rotation": [ 0, 0.70011, 0, 0.71403 ], "object_category": "plant", "info": { "geodesic_distance": 3.53253, "euclidean_distance": 3.25989, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80634, 0.18682, 4.0152 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3MH9DQ757YFMCOT45LZ8OPWNQUWUG8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.02991, 0.18682, 2.44154 ], "start_rotation": [ 0, 0.48813, 0, 0.87277 ], "object_category": "sofa", "info": { "geodesic_distance": 22.26851, "euclidean_distance": 6.09758, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.8226, -3.21318, 3.67776 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3F6KKYWMND465EZ46UME491W57FNDT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.51964, 0.26623, 1.39992 ], "start_rotation": [ 0, 0.64751, 0, 0.76206 ], "object_category": "bed", "info": { "geodesic_distance": 3.03814, "euclidean_distance": 2.87196, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.63049, 0.18682, 4.21555 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A2TUUIV61CR0C7:3RJSC4XJ12X8G5S4QI2XVLHRKWG500", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30938, 0.18682, 5.88486 ], "start_rotation": [ 0, 0.90911, 0, -0.41655 ], "object_category": "counter", "info": { "geodesic_distance": 3.87337, "euclidean_distance": 2.25463, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.62972, 0.18682, 5.67891 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3FSDH6HUZPNQ8:34MAJL3QP6QM1EN1V016SR9KNBJ431", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.43595, 0.18682, 1.86675 ], "start_rotation": [ 0, 0.15022, 0, 0.98865 ], "object_category": "sofa", "info": { "geodesic_distance": 23.30209, "euclidean_distance": 4.04869, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.85055, -3.21318, 3.63376 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3FDJT1UU76BATVZ8UBCFE5W0XPP5KY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.09096, 0.18682, 9.80105 ], "start_rotation": [ 0, 0.35978, 0, 0.93304 ], "object_category": "shower", "info": { "geodesic_distance": 7.47191, "euclidean_distance": 6.57832, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.76917, 0.18682, 5.5817 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ACI0C2WU1NABK:3M1CVSFP628TA49K2CNTI2OVO6YQAR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.81628, -3.21318, 5.04645 ], "start_rotation": [ 0, 0.99985, 0, 0.01711 ], "object_category": "toilet", "info": { "geodesic_distance": 5.50586, "euclidean_distance": 5.07687, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.04251, -3.21318, -0.02227 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WT783CTPDKUZD4T38MUT8JK2BPBCD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.46267, 0.18682, 7.35298 ], "start_rotation": [ 0, 0.87954, 0, 0.47582 ], "object_category": "toilet", "info": { "geodesic_distance": 4.81712, "euclidean_distance": 4.54314, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.06471, 0.18682, 2.96879 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "ALCPF5NANBDSZ:337RC3OW0752BVW5L26TX33E0KBLVI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.51033, 0.18682, 0.13706 ], "start_rotation": [ 0, 0.98773, 0, -0.15614 ], "object_category": "seating", "info": { "geodesic_distance": 9.71233, "euclidean_distance": 6.51396, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19297, 0.18682, 6.73766 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A22VLXXVIEJSD1:34Z02EIMIUGA173UREKVY1N50Y0T0B", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.70394, -3.21318, 5.32322 ], "start_rotation": [ 0, 0.96952, 0, 0.24502 ], "object_category": "shower", "info": { "geodesic_distance": 19.13775, "euclidean_distance": 6.5071, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.75418, 0.18682, 5.41341 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A22VLXXVIEJSD1:3OCHAWUVGQNJVEJI0HVA6ONKRREKX9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.27425, -3.21318, 6.66307 ], "start_rotation": [ 0, 0.94904, 0, -0.31515 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 16.15015, "euclidean_distance": 3.98878, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.77173, 0.18682, 7.09839 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957" ], "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3YDGXNSEO1X82BT77HW2J8HV3XA84W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5228, -3.21318, 7.33154 ], "start_rotation": [ 0, 0.77134, 0, -0.63642 ], "object_category": "shower", "info": { "geodesic_distance": 15.27518, "euclidean_distance": 4.5258, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.81522, 0.18682, 5.51912 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:39KFRKBFIPYRLAU73595WJB2D5HYOI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.31222, 0.18682, -0.3228 ], "start_rotation": [ 0, 0.99254, 0, -0.1219 ], "object_category": "plant", "info": { "geodesic_distance": 8.97101, "euclidean_distance": 7.14303, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.31706, 0.18682, 6.92223 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ZPPDN2SLXZQ8I9A1FETSQOX0T3E9G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.35931, -3.21318, -0.04505 ], "start_rotation": [ 0, 0.9974, 0, 0.07211 ], "object_category": "seating", "info": { "geodesic_distance": 25.11549, "euclidean_distance": 7.63367, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.05236, 0.18682, 6.68569 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:34S9DKFK75S93PUV2Q9SHUBXNTONY0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.43221, -3.21318, 8.9787 ], "start_rotation": [ 0, 0.83738, 0, -0.54663 ], "object_category": "sink", "info": { "geodesic_distance": 3.21568, "euclidean_distance": 2.63844, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.19988, -3.21318, 9.46804 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", [ "a0624e5f721b4283bbf4455ebc882674" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3HRMW88U18T6OCDAIHJJCNSD5MBM01", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.38465, -0.02007, 8.3337 ], "start_rotation": [ 0, 0.28159, 0, -0.95953 ], "object_category": "table", "info": { "geodesic_distance": 7.75422, "euclidean_distance": 6.79075, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.09731, 0.1629, 3.03763 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7" ], "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A21ZK49H9LSSRY:3OWEPKL08BFQO5YUFHJS4HR0JVTN7F", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.38736, 0.08866, 2.37456 ], "start_rotation": [ 0, 0.60429, 0, 0.79676 ], "object_category": "counter", "info": { "geodesic_distance": 3.1863, "euclidean_distance": 3.03422, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.79241, 0.18682, 5.06751 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "AREQ43Q0T8ENT:36V4Q8R5ZM3UC5I9ZFDYRTJVJU6QM9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.41523, 0.18682, 9.23207 ], "start_rotation": [ 0, 0.23888, 0, -0.97105 ], "object_category": "sink", "info": { "geodesic_distance": 5.38907, "euclidean_distance": 4.01794, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.9474, 0.18682, 5.6019 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3PJ71Z61R65ROHFYPRJEL653AF691O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.62612, -3.21318, 6.07279 ], "start_rotation": [ 0, 0.59351, 0, 0.80483 ], "object_category": "bed", "info": { "geodesic_distance": 16.90433, "euclidean_distance": 3.96982, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.35168, 0.18682, 6.76739 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A1F6MWP9A0XLJQ:32SCWG5HIJ77NQW2CMRS2SWZNTUP6L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.81985, 0.18682, 7.07292 ], "start_rotation": [ 0, 0.8275, 0, 0.56146 ], "object_category": "cushion", "info": { "geodesic_distance": 6.93745, "euclidean_distance": 2.98485, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.77612, 0.18682, 4.24275 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A272X64FOZFYLB:3OXV7EAXLGT0G1RFEOULPPTYIY263S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.18691, -3.21318, 6.89439 ], "start_rotation": [ 0, 0.46511, 0, 0.88525 ], "object_category": "sink", "info": { "geodesic_distance": 2.65355, "euclidean_distance": 2.36807, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.23485, -3.21318, 6.71158 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07" ] }, { "episode_id": "A16K7X677N4WN6:3C8HJ7UOP9X3QXJ0MBWBIMVZNUTMZU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.37154, -3.21318, 6.67922 ], "start_rotation": [ 0, 0.35494, 0, -0.93489 ], "object_category": "bed", "info": { "geodesic_distance": 18.11429, "euclidean_distance": 5.54708, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.02336, 0.18682, 4.21061 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_46_newN_0", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AOG0PUCLMU0HH:3FIJLY1B6W736JPDDFUWWY9CHZRPFX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.71108, -3.21318, 6.29123 ], "start_rotation": [ 0, 0.87952, 0, -0.47586 ], "object_category": "sofa", "info": { "geodesic_distance": 3.98032, "euclidean_distance": 3.73248, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83134, -3.21318, 3.73745 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:33JKGHPFYEX9985HJNLHNZOQEJJNMJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.40439, 0.18682, 2.52252 ], "start_rotation": [ 0, 0.69423, 0, 0.71975 ], "object_category": "plant", "info": { "geodesic_distance": 1.88385, "euclidean_distance": 1.58825, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80403, 0.18682, 4.04517 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3UWN2HHPU08C73IM3KH3Z8NW51DNSS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.59596, 0.18682, 8.63644 ], "start_rotation": [ 0, 0.49739, 0, 0.86753 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.64001, "euclidean_distance": 1.82043, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94358, 0.18682, 6.99602 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A2Q6L9LKSNU7EB:38JBBYETQQDPBC3YKKI2BIDHE1Q4EB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.71443, 0.18682, 7.09867 ], "start_rotation": [ 0, 0.96869, 0, 0.24826 ], "object_category": "towel", "info": { "geodesic_distance": 3.64437, "euclidean_distance": 2.07262, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.53812, 0.18682, 5.27225 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3G5OWGKHW6OL5:3D8YOU6S9GNKFV4YT8QMCYJYWHO6UF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.22394, -3.21318, 8.87228 ], "start_rotation": [ 0, 0.75229, 0, -0.65883 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.08909, "euclidean_distance": 4.37788, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.72558, 0.18682, 7.02382 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "bc280058ef514e16860da03ecb6cdb07", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "bc280058ef514e16860da03ecb6cdb07", [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A33VGSEJ44ORMF:3DBQWDE4Y81B11KBRO4V6XD4SORN5R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.59946, 0.18682, 3.9441 ], "start_rotation": [ 0, 0.04225, 0, -0.99911 ], "object_category": "table", "info": { "geodesic_distance": 8.86545, "euclidean_distance": 3.71759, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.00358, 0.17787, 3.11981 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:3B837J3LDQZXM1AEWRYK8SS66Y1RSJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.42621, 0.18682, 10.10143 ], "start_rotation": [ 0, 0.59435, 0, -0.80421 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.2611, "euclidean_distance": 3.61254, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.08461, 0.18682, 7.03764 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3U5JL4WY5MCYHCUFFP8UZ7YOTZD4XF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.08799, 0.18682, 3.27204 ], "start_rotation": [ 0, 0.99623, 0, 0.08675 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.76317, "euclidean_distance": 1.52565, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.91723, 0.18682, 4.20995 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A2TUUIV61CR0C7:3XXU1SWE8OY5MB4LLETE3WXDC8G0AW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.25445, -3.21318, 7.12798 ], "start_rotation": [ 0, 0.45248, 0, 0.89177 ], "object_category": "seating", "info": { "geodesic_distance": 18.0015, "euclidean_distance": 3.68486, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.0382, 0.18682, 6.71536 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AXAO7UJYYEFCO:31N2WW6R9TTWZUKQFHXPJV6BBX53FS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.30512, -1.21318, 10.43699 ], "start_rotation": [ 0, 0.10942, 0, -0.994 ], "object_category": "bed", "info": { "geodesic_distance": 9.45759, "euclidean_distance": 7.6819, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.20374, 0.18682, 6.83091 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3Q5C1WP23O48NUDMM16X9Q01OK2156", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.00074, 0.21878, 1.86929 ], "start_rotation": [ 0, 0.82358, 0, -0.56721 ], "object_category": "table", "info": { "geodesic_distance": 11.70709, "euclidean_distance": 5.18384, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.19603, 0.17097, 3.17147 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A26LOVXF4QZZCO:36V4Q8R5ZM3UC5I9ZFDYRTJVJTMMQJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.81273, -1.21318, 9.99239 ], "start_rotation": [ 0, 0.98742, 0, 0.15813 ], "object_category": "counter", "info": { "geodesic_distance": 3.66514, "euclidean_distance": 3.61878, "closest_goal_object_id": 291, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.7948, -3.21318, 10.05298 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3TEM0PF1Q703KI7X5OKGTX5JXFLD0R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.49498, -1.26676, 10.09414 ], "start_rotation": [ 0, 0.26662, 0, 0.9638 ], "object_category": "plant", "info": { "geodesic_distance": 6.61324, "euclidean_distance": 2.48249, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80428, 0.18682, 9.19402 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55" ], "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "AIOOOO5OXWXKM:3VAR3R6G1R4C643PQ1BBX6N0JLA8OZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.41561, 0.18682, 4.49547 ], "start_rotation": [ 0, 0.82171, 0, 0.56991 ], "object_category": "plant", "info": { "geodesic_distance": 3.27682, "euclidean_distance": 2.52539, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.32964, 0.18682, 6.84982 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "91c5afdf381d439380d3ca8d6eb27b03", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3E1QT0TDFRC2AISMS6Y6D9RE8F08I0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.04957, -0.60899, 9.01246 ], "start_rotation": [ 0, 0.76172, 0, -0.64791 ], "object_category": "sink", "info": { "geodesic_distance": 5.713, "euclidean_distance": 4.67613, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.12748, -3.21318, 9.45529 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3RR85PK3AV9TU:3UOUJI6MTFHXYAOUUVZCCBWITLZXUC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.15432, -3.21318, 2.14335 ], "start_rotation": [ 0, 0.38131, 0, 0.92445 ], "object_category": "towel", "info": { "geodesic_distance": 3.77865, "euclidean_distance": 3.22796, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.38497, -3.21318, 0.07366 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A1JI19KPIVNL3Y:3DY46V3X3RL7BCE5NO89CGDI15D559", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.65108, -3.21318, 5.63626 ], "start_rotation": [ 0, 0.79442, 0, 0.60737 ], "object_category": "sofa", "info": { "geodesic_distance": 4.93495, "euclidean_distance": 4.07894, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.76748, -3.21318, 3.63592 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3M0NZ3JDP315IQYUUCFP1KKD22VZ5G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.32875, 0.18682, 6.83742 ], "start_rotation": [ 0, 0.05244, 0, 0.99862 ], "object_category": "table", "info": { "geodesic_distance": 4.62867, "euclidean_distance": 3.77395, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.01862, 0.17422, 3.09505 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A35NXCD0VE2I69:3YDGXNSEO1X82BT77HW2J8HV3Z784X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.96965, -0.06612, 8.16758 ], "start_rotation": [ 0, 0.23064, 0, 0.97304 ], "object_category": "bed", "info": { "geodesic_distance": 6.8931, "euclidean_distance": 6.42774, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.36044, 0.18682, 6.84773 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A26LOVXF4QZZCO:31Q0U3WYDRINAYR5AULU7AEXGTT17O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.72666, -3.21318, 2.51872 ], "start_rotation": [ 0, 0.10017, 0, 0.99497 ], "object_category": "toilet", "info": { "geodesic_distance": 2.98224, "euclidean_distance": 2.58158, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.13642, -3.21318, -0.0902 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3ZWFC4W1UWAOIW5SQ7YL1T9RH81RFU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.703, 0.18682, 10.0956 ], "start_rotation": [ 0, 0.83928, 0, -0.5437 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.28018, "euclidean_distance": 3.49177, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.99962, 0.18682, 7.01604 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A1P3HHEXWNLJMP:3P529IW9K0ODFYAFLN1PFH0SCPDLFI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.22826, -0.43109, 8.85031 ], "start_rotation": [ 0, 0.01995, 0, 0.9998 ], "object_category": "chair", "info": { "geodesic_distance": 6.02064, "euclidean_distance": 5.43281, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.71421, -3.21318, 10.04396 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ] }, { "episode_id": "A21ZK49H9LSSRY:30JNVC0ORBN8KRHY8IXLZOBZ11DHQI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.94163, 0.18682, 8.89936 ], "start_rotation": [ 0, 0.76572, 0, 0.64318 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.02966, "euclidean_distance": 2.02941, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07927, 0.18682, 6.88786 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A21ZK49H9LSSRY:3MHW492WW2GMHDEQLE78XGI30MBVMY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.71661, 0.2009, 0.91583 ], "start_rotation": [ 0, 0.80631, 0, 0.59149 ], "object_category": "counter", "info": { "geodesic_distance": 9.28234, "euclidean_distance": 6.29799, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.62211, 0.18682, 5.59933 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "A399GYOD60WD7M:3IOEN3P9S9M46YD0RKG21WE1LHN161", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.22349, 0.18682, 2.79674 ], "start_rotation": [ 0, 0.63297, 0, 0.77418 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.15278, "euclidean_distance": 4.57598, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.05048, 0.18682, 5.38999 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3NFGEUZAH9V5G:31IBVUNM9U2GB3M9ZR3V2QYU3NHFVX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.46091, -3.21318, 10.37826 ], "start_rotation": [ 0, 0.24842, 0, 0.96865 ], "object_category": "bed", "info": { "geodesic_distance": 13.01722, "euclidean_distance": 5.67281, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.36167, 0.18682, 6.86161 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AZPZDX26SYMFY:3FDJT1UU76BATVZ8UBCFE5W0YVDK5E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.59707, 0.18682, 2.87244 ], "start_rotation": [ 0, 0.57111, 0, -0.82087 ], "object_category": "bed", "info": { "geodesic_distance": 1.8619, "euclidean_distance": 1.5492, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.7041, 0.18682, 4.13155 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3KAKFY4PGW5G9LMGGP3AMSJ3RQBI3E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.43645, 0.18682, 5.11995 ], "start_rotation": [ 0, 0.79945, 0, 0.60073 ], "object_category": "cushion", "info": { "geodesic_distance": 1.67982, "euclidean_distance": 1.57724, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.89944, 0.18682, 4.36162 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] ] }, { "episode_id": "A221PNPQRV4FC4:3ATPCQ38JAD2J606TM4NVORXOLEYAE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.91206, 0.18682, 4.37696 ], "start_rotation": [ 0, 0.01431, 0, 0.9999 ], "object_category": "bathtub", "info": { "geodesic_distance": 2.82158, "euclidean_distance": 2.33203, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.87289, 0.18682, 5.32125 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3V5Q80FXIZUCY08ERMIIZCCM3W823M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.65902, -3.21318, 10.40549 ], "start_rotation": [ 0, 0.88354, 0, 0.46836 ], "object_category": "towel", "info": { "geodesic_distance": 12.02866, "euclidean_distance": 10.71973, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.34142, -3.21318, 0.09024 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33PPO7FECXIERDOD9E9MZ15FJ9BID0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.74091, -0.01201, 1.30654 ], "start_rotation": [ 0, 0.98674, 0, -0.16231 ], "object_category": "seating", "info": { "geodesic_distance": 7.67308, "euclidean_distance": 5.96141, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.06612, 0.18682, 6.65975 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:30JNVC0ORBN8KRHY8IXLZOBZ28KQHD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.91588, 0.18682, 6.68882 ], "start_rotation": [ 0, 0.26656, 0, 0.96382 ], "object_category": "table", "info": { "geodesic_distance": 5.06715, "euclidean_distance": 3.72962, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.17274, 0.17189, 3.16603 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "AIIOT9A7ARQZW:3VNL7UK1XHM1YBIKUW3G18A96ZBTFZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.84905, -3.21318, 6.98549 ], "start_rotation": [ 0, 0.08158, 0, 0.99667 ], "object_category": "sofa", "info": { "geodesic_distance": 5.267, "euclidean_distance": 3.89468, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.88151, -3.21318, 3.57881 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AOMFEAWQHU3D8:3M23Y66PO4A40ICU43VMXX1AAFG6S1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.25578, 0.22149, 1.81481 ], "start_rotation": [ 0, 0.55424, 0, 0.83236 ], "object_category": "shower", "info": { "geodesic_distance": 10.6793, "euclidean_distance": 7.97528, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.8563, 0.18682, 5.37985 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOMFEAWQHU3D8:3DHE4R9OCYEDSCK2M1P2I61V6YC2GM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38726, -3.21318, 6.81995 ], "start_rotation": [ 0, 0.68009, 0, 0.73313 ], "object_category": "cushion", "info": { "geodesic_distance": 5.87903, "euclidean_distance": 5.53584, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.83763, -3.21318, 3.38253 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AOMFEAWQHU3D8:3HYA4D452TM7ECO7BHJK0L1J6MYF2T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.40348, -3.21318, 8.72854 ], "start_rotation": [ 0, 0.33191, 0, -0.94331 ], "object_category": "bed", "info": { "geodesic_distance": 14.04527, "euclidean_distance": 4.76369, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.21848, 0.18682, 6.85949 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A9K0CV70JWG1W:3PZDLQMM0VO0B04XKFTJSFGG9BMC2Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.97001, 0.18682, 6.81693 ], "start_rotation": [ 0, 0.62127, 0, -0.7836 ], "object_category": "chair", "info": { "geodesic_distance": 6.5654, "euclidean_distance": 5.88016, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16512, 0.18682, 5.72877 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "ALCPF5NANBDSZ:3TPZPLC3M2F8Q79KTKTUVPKFD3VP3K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.58076, 0.18682, 5.4519 ], "start_rotation": [ 0, 0.81425, 0, 0.58051 ], "object_category": "cushion", "info": { "geodesic_distance": 2.81384, "euclidean_distance": 2.49919, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.84828, 0.18682, 4.21132 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A19C2SO0IMRZ1L:358010RM5GWXBPDUZL9H8XY17SDVX4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.33755, 0.18682, 7.19714 ], "start_rotation": [ 0, 0.34589, 0, 0.93827 ], "object_category": "towel", "info": { "geodesic_distance": 4.97922, "euclidean_distance": 4.67718, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.66141, 0.18682, 5.27438 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A75XDPFNICR3T:3SNVL38CI6VVSG8N9LZNSB2AP5VKC3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.53251, -3.21318, 3.57719 ], "start_rotation": [ 0, 0.28921, 0, -0.95726 ], "object_category": "seating", "info": { "geodesic_distance": 21.64177, "euclidean_distance": 4.84932, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.18742, 0.18682, 6.7346 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:333U7HK6IBIAMO8JRWUMB2KFWMJJDS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.14466, -3.21318, 6.23385 ], "start_rotation": [ 0, 0.431, 0, 0.90235 ], "object_category": "picture", "info": { "geodesic_distance": 2.70524, "euclidean_distance": 2.28757, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19878, -3.21318, 4.98334 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2ZZW6KME1FUDU:3TAYZSBPLNBGIHTTH1JJ7KKYU5T2SL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.1519, 0.18682, 6.96365 ], "start_rotation": [ 0, 0.13146, 0, 0.99132 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.34792, "euclidean_distance": 1.33439, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07493, 0.18682, 7.51334 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A17OSPGV41FZ7P:326O153BMK12B8MRDVJVEM7NQ9VDEY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.22339, -3.21318, 4.53157 ], "start_rotation": [ 0, 0.72568, 0, -0.68803 ], "object_category": "towel", "info": { "geodesic_distance": 6.06075, "euclidean_distance": 4.90215, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.29398, -3.21318, 0.01544 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AZPZDX26SYMFY:3483FV8BEGMBVJVWAOGG6FO6DO826S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.91721, 0.18682, 7.31434 ], "start_rotation": [ 0, 0.99936, 0, -0.03583 ], "object_category": "shower", "info": { "geodesic_distance": 4.16922, "euclidean_distance": 2.08154, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.84781, 0.18682, 5.37669 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AIOOOO5OXWXKM:3TVRFO09GMIUFK10LH7BLO0ZFPDLX2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.92754, -3.21318, 7.26907 ], "start_rotation": [ 0, 0.36919, 0, 0.92936 ], "object_category": "picture", "info": { "geodesic_distance": 4.10798, "euclidean_distance": 3.66771, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.04277, -3.21318, 4.8651 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "AZPZDX26SYMFY:36AHBNMV1TF0HD3IDWVPLPZ39OKDY4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.07672, -2.29823, 10.33958 ], "start_rotation": [ 0, 0.26837, 0, -0.96332 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.16826, "euclidean_distance": 4.40348, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.18472, 0.19149, 7.37048 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3UXUOQ9OKG0J4M456DENIB70JGA7AE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61201, 0.18682, 4.01802 ], "start_rotation": [ 0, 0.94933, 0, 0.31427 ], "object_category": "toilet", "info": { "geodesic_distance": 2.38016, "euclidean_distance": 2.04842, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.17366, 0.18682, 5.44903 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A334BFWVFS4B41:3N4BPTXIOAVREAPNVCKNMHOGXCYUKY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.58258, 0.18682, 3.11133 ], "start_rotation": [ 0, 0.66726, 0, 0.74483 ], "object_category": "counter", "info": { "geodesic_distance": 7.95031, "euclidean_distance": 5.67675, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.5226, 0.18682, 5.50272 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A272X64FOZFYLB:3PMBY0YE296BBKPW5O8Y22OUFG4C9X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.07453, -3.21318, 2.17786 ], "start_rotation": [ 0, 0.86608, 0, -0.4999 ], "object_category": "towel", "info": { "geodesic_distance": 3.78528, "euclidean_distance": 3.18836, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.358, -3.21318, 0.06128 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3V2XCDF45VN9X:352YTHGROXG1VMU0ALQ8WLAU6ISH4G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.01473, -3.21318, 4.60351 ], "start_rotation": [ 0, 0.27346, 0, -0.96188 ], "object_category": "shower", "info": { "geodesic_distance": 19.24309, "euclidean_distance": 5.98932, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.91354, 0.18682, 5.38886 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "3560fdb7b97c462ab565c8946b77ecef", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RR85PK3AV9TU:3300DTYQT4KW0HQWIHPFELEMAUJQES", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.14681, -3.21318, 2.81965 ], "start_rotation": [ 0, 0.81261, 0, -0.58281 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.12262, "euclidean_distance": 8.13847, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.08804, 0.18682, 7.1746 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RR85PK3AV9TU:3M23Y66PO4A40ICU43VMXX1AADY6SF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.04707, 0.18682, 3.92365 ], "start_rotation": [ 0, 0.97442, 0, -0.22472 ], "object_category": "chair", "info": { "geodesic_distance": 2.4221, "euclidean_distance": 1.93262, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.27111, 0.15359, 3.05575 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d" ], "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "ACM3TPZKLE7WC:34Q075JO1ZG9SNRLPV0LSV4A7B310V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.52086, -3.21318, 0.25303 ], "start_rotation": [ 0, 0.85387, 0, 0.52048 ], "object_category": "bathtub", "info": { "geodesic_distance": 17.74853, "euclidean_distance": 10.20034, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.14969, 0.18682, 7.35864 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:304SM51WA57A6UTP0UCU8DN2PI2BS7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.12307, -3.21318, 6.38983 ], "start_rotation": [ 0, 0.49702, 0, 0.86774 ], "object_category": "picture", "info": { "geodesic_distance": 2.71888, "euclidean_distance": 2.35894, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16544, -3.21318, 4.99057 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A75XDPFNICR3T:39DD6S19JRE5E9RN5D8S5EQQEQLZEX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.95235, 0.18682, 2.92966 ], "start_rotation": [ 0, 0.96998, 0, -0.24317 ], "object_category": "counter", "info": { "geodesic_distance": 7.43081, "euclidean_distance": 5.20457, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61321, 0.18682, 5.51271 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2MCG5W6LHSRG9:3MH9DQ757YFMCOT45LZ8OPWNQVHUGV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.4628, 0.18682, 1.7486 ], "start_rotation": [ 0, 0.36077, 0, 0.93265 ], "object_category": "sofa", "info": { "geodesic_distance": 25.28499, "euclidean_distance": 3.92137, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.75531, -3.21318, 3.71194 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3FQ5JJ512NREJK5EYB818MWMPHPNKL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.76113, -3.21318, 3.46444 ], "start_rotation": [ 0, 0.65314, 0, 0.75724 ], "object_category": "toilet", "info": { "geodesic_distance": 3.92527, "euclidean_distance": 3.50934, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.18426, -3.21318, -0.03977 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A21ZK49H9LSSRY:3ZY8KE4ISL6D2SCID7EPEP289KPQVQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.7496, -3.21318, 7.25452 ], "start_rotation": [ 0, 0.59314, 0, -0.8051 ], "object_category": "plant", "info": { "geodesic_distance": 5.4811, "euclidean_distance": 4.22479, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.12093, -3.21318, 3.23419 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3U088ZLJVMW2TO7OMJP6LLU43LVW02", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.17054, -3.21318, 7.04023 ], "start_rotation": [ 0, 0.80956, 0, -0.58703 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.11873, "euclidean_distance": 2.01623, "closest_goal_object_id": 269, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.22215, -3.21318, 6.46792 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ] }, { "episode_id": "ACI0C2WU1NABK:37Z929RLGBBA2GN60G3F87TOUJ4ST3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.45794, 0.18682, 4.08561 ], "start_rotation": [ 0, 0.36754, 0, 0.93001 ], "object_category": "toilet", "info": { "geodesic_distance": 1.23085, "euclidean_distance": 1.14933, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.07599, 0.18682, 3.08663 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A9K0CV70JWG1W:3WMOAN2SRD0SZVZQXFM8AV7347JNVD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.72513, -3.21318, 7.37709 ], "start_rotation": [ 0, 0.92272, 0, -0.38547 ], "object_category": "toilet", "info": { "geodesic_distance": 8.2742, "euclidean_distance": 7.40748, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.25751, -3.21318, -0.13044 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3RR85PK3AV9TU:3HWRJOOET758DX59ALEK9LTNR95ESN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.61043, 0.18682, 0.35397 ], "start_rotation": [ 0, 0.61804, 0, -0.78615 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.70224, "euclidean_distance": 3.17236, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.89638, 0.18682, 3.16292 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "AKYXQY5IP7S0Z:3RXCAC0YITSOERMR2IY3SXEYSY8G87", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.66435, 0.18682, 4.38941 ], "start_rotation": [ 0, 0.8212, 0, -0.57064 ], "object_category": "toilet", "info": { "geodesic_distance": 4.48532, "euclidean_distance": 1.74079, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.14482, 0.18682, 5.3728 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A75XDPFNICR3T:3IUZPWIU1QA46EESQCZO459DHMHWKU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.22497, -3.21318, 7.03124 ], "start_rotation": [ 0, 0.8674, 0, 0.49761 ], "object_category": "bed", "info": { "geodesic_distance": 15.7483, "euclidean_distance": 4.24281, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.3516, 0.18682, 6.82859 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A21ZK49H9LSSRY:3X1FV8S5JZUMP3I4AB9DKBY63TMGVJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.57631, 0.18682, 7.46144 ], "start_rotation": [ 0, 0.03077, 0, -0.99953 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.63941, "euclidean_distance": 3.38524, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.12795, 0.18682, 4.42369 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A16K7X677N4WN6:38JBBYETQQDPBC3YKKI2BIDHDXJE45", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.45526, -3.21318, 5.2081 ], "start_rotation": [ 0, 0.25923, 0, 0.96581 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 18.07271, "euclidean_distance": 5.02248, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.86131, 0.18682, 7.10386 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3MRNMEIQW79GHEWJUH6ZRHX7Z5GDL3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.19794, 0.20043, 2.01273 ], "start_rotation": [ 0, 0.05993, 0, 0.9982 ], "object_category": "seating", "info": { "geodesic_distance": 2.25696, "euclidean_distance": 2.09214, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.52875, 0.18682, 3.94656 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3GA6AFUKOQRGDQBWA7LPMGIORCPH3B", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.61025, 0.18682, 2.3663 ], "start_rotation": [ 0, 0.79528, 0, 0.60624 ], "object_category": "shower", "info": { "geodesic_distance": 5.68835, "euclidean_distance": 5.13279, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.84038, 0.18682, 5.35762 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3X1FV8S5JZUMP3I4AB9DKBY63WXVGF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38215, -3.21318, 10.0386 ], "start_rotation": [ 0, 0.13048, 0, 0.99145 ], "object_category": "bed", "info": { "geodesic_distance": 13.06748, "euclidean_distance": 5.42385, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.26349, 0.18682, 6.84894 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3NFGEUZAH9V5G:35GCEFQ6I7R24BBQGTRWMNMTO90Z3S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.41749, -3.21318, 9.20807 ], "start_rotation": [ 0, 0.85189, 0, 0.52372 ], "object_category": "sofa", "info": { "geodesic_distance": 7.08407, "euclidean_distance": 6.49736, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81754, -3.21318, 3.56248 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "4dcc93d2006646e19f9b2748dcb4f860", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A17OSPGV41FZ7P:3QY7M81QH9PPGZDRI4RCCPAWP1N7KV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.95326, 0.18682, 7.42687 ], "start_rotation": [ 0, 0.88607, 0, -0.46356 ], "object_category": "cushion", "info": { "geodesic_distance": 6.16051, "euclidean_distance": 3.15803, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82552, 0.18682, 4.18856 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A221PNPQRV4FC4:38YMOXR4MW2X7ZT3O85NUM4VHWEW6H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.38097, 0.18682, 9.49109 ], "start_rotation": [ 0, 0.5958, 0, 0.80313 ], "object_category": "towel", "info": { "geodesic_distance": 7.16521, "euclidean_distance": 5.33821, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.51122, 0.18682, 5.31305 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3C2NJ6JBKCKJ241O952X8QAS8FVN2N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.83419, -1.21318, 10.035 ], "start_rotation": [ 0, 0.23146, 0, -0.97284 ], "object_category": "picture", "info": { "geodesic_distance": 3.41538, "euclidean_distance": 3.262, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.79266, 0.18682, 7.08408 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A3RR85PK3AV9TU:3QY5DC2MXTNGYOX9U1TQ64WBO7DFUU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.34437, 0.18682, 0.23224 ], "start_rotation": [ 0, 0.04162, 0, -0.99913 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.76425, "euclidean_distance": 3.40622, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.05508, 0.17054, 3.0829 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A19Z68L0RHQVWL:3UXUOQ9OKG0J4M456DENIB70KPR7AE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.72385, -3.21318, 7.88557 ], "start_rotation": [ 0, 0.87507, 0, 0.484 ], "object_category": "table", "info": { "geodesic_distance": 3.77292, "euclidean_distance": 3.26708, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.10932, -3.21318, 6.45686 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2TUUIV61CR0C7:3CN4LGXD5ZRNHHKPKLUWIL5XWF64Y5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.02879, 0.18682, 9.54599 ], "start_rotation": [ 0, 0.92897, 0, -0.37015 ], "object_category": "shower", "info": { "geodesic_distance": 7.29496, "euclidean_distance": 5.59683, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82662, 0.18682, 5.56655 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A75XDPFNICR3T:3C2NJ6JBKCKJ241O952X8QAS8G92NI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.06315, 0.11126, -0.16875 ], "start_rotation": [ 0, 0.99986, 0, 0.01697 ], "object_category": "plant", "info": { "geodesic_distance": 8.00405, "euclidean_distance": 6.96642, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.3169, 0.18682, 6.91662 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AHIJACUG7ZL9B:3KB8R4ZV1GA7GPKY5UIDJZ4Z1B7GBZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.36905, 0.21059, 7.25966 ], "start_rotation": [ 0, 0.99989, 0, 0.01461 ], "object_category": "table", "info": { "geodesic_distance": 7.23882, "euclidean_distance": 5.9928, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.08951, 0.16917, 3.09091 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3CTOC39K39TU5F790JR0BAAJAC07J9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.63742, 0.18682, 4.68293 ], "start_rotation": [ 0, 0.07799, 0, -0.99695 ], "object_category": "counter", "info": { "geodesic_distance": 5.24715, "euclidean_distance": 3.29569, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61135, 0.18682, 5.67908 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A21ZK49H9LSSRY:3XC1O3LBOUPNY3SGG76EWLFT2PWLTI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.91298, 0.18682, 5.78882 ], "start_rotation": [ 0, 0.9104, 0, -0.41373 ], "object_category": "toilet", "info": { "geodesic_distance": 1.42835, "euclidean_distance": 1.31243, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.09679, 0.18682, 5.47136 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A1P3HHEXWNLJMP:35LDD5557C7812KEMAT1V77MJJBMKZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.97538, -3.21318, 10.32368 ], "start_rotation": [ 0, 0.72282, 0, 0.69104 ], "object_category": "picture", "info": { "geodesic_distance": 5.57341, "euclidean_distance": 5.39078, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.13927, -3.21318, 4.89823 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A26LOVXF4QZZCO:3X73LLYYQ3HNHU46SQ54VUGUXWHHNZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.75926, 0.18682, 3.03305 ], "start_rotation": [ 0, 0.99747, 0, 0.07107 ], "object_category": "cushion", "info": { "geodesic_distance": 1.13261, "euclidean_distance": 1.06783, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93463, 0.18682, 4.02123 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A21ZK49H9LSSRY:30OG32W0SWEBXKD42PXYARJH5JRENO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.11713, -3.21318, 4.37102 ], "start_rotation": [ 0, 0.91859, 0, 0.3952 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 18.4053, "euclidean_distance": 4.69197, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.8848, 0.18682, 7.06482 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3NL0RFNU0HQSXCV8G6T59DQMXPPK4V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.21403, -3.21318, 9.42738 ], "start_rotation": [ 0, 0.68542, 0, 0.72815 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.68664, "euclidean_distance": 1.60042, "closest_goal_object_id": 292, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.74102, -3.21318, 9.98713 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ] }, { "episode_id": "ACI0C2WU1NABK:39OWYR0EPMUXFXHE42QF9P2OKVQFYU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.08405, 0.18682, 10.09419 ], "start_rotation": [ 0, 1, 0, -0.00311 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.36835, "euclidean_distance": 3.36224, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.98441, 0.18682, 7.03949 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A16K7X677N4WN6:3NLZY2D53RSA6N0OZ3CJRG46IM0LQF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.50943, 0.18682, 0.02882 ], "start_rotation": [ 0, 0.92564, 0, -0.37841 ], "object_category": "bed", "info": { "geodesic_distance": 5.57191, "euclidean_distance": 4.5849, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.88754, 0.18682, 3.95076 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A33VGSEJ44ORMF:3H8DHMCCWBE5X8E19HUYCHKSA7QDKJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.48195, 0.27725, 1.16338 ], "start_rotation": [ 0, 0.45985, 0, -0.88799 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.11101, "euclidean_distance": 9.75335, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.22925, 0.18682, 7.02834 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A28AXX4NCWPH1F:3T3IWE1XG8QYP08T8CEAD7ENCZFQTG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.76607, 0.18682, 4.15213 ], "start_rotation": [ 0, 0.79899, 0, 0.60135 ], "object_category": "counter", "info": { "geodesic_distance": 6.43249, "euclidean_distance": 4.5297, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61855, 0.18682, 5.67715 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:36NEMU28XHGZW2EVBOC4JI1H6Q8WMT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.16835, -1.21318, 10.52476 ], "start_rotation": [ 0, 0.58757, 0, -0.80917 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.42511, "euclidean_distance": 5.80457, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.72562, 0.18682, 7.0297 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3SKEMFQBZ58TGDIAS9JIQP6R0LJ8K9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.01203, -1.6191, 10.12515 ], "start_rotation": [ 0, 0.79176, 0, 0.61083 ], "object_category": "picture", "info": { "geodesic_distance": 4.27372, "euclidean_distance": 3.60743, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.81723, 0.18682, 7.05476 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db" ], "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "AZPZDX26SYMFY:3EFVCAY5L5CY5TCSAOJ6PA6ELT4J80", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.99743, 0.18682, 7.31549 ], "start_rotation": [ 0, 0.6065, 0, 0.79509 ], "object_category": "chair", "info": { "geodesic_distance": 6.60232, "euclidean_distance": 6.02579, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08824, 0.18682, 5.63579 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2GQH4SWIOFH2L:3Z7VU45IP0K6U8XBTPDDYU7WQN3Z1D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.34194, -3.21318, 3.97 ], "start_rotation": [ 0, 0.69684, 0, 0.71723 ], "object_category": "bed", "info": { "geodesic_distance": 20.45597, "euclidean_distance": 5.76284, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.28091, 0.18682, 4.40378 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AOMFEAWQHU3D8:31Z0PCVWUMIOJI3ECD54DGXS78AT76", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.08721, -3.21318, 10.42054 ], "start_rotation": [ 0, 0.45942, 0, -0.88822 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.13145, "euclidean_distance": 4.88418, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.76831, 0.18682, 7.06568 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3RR85PK3AV9TU:3OLQQLKKNUSFEUMJNR56HK20VSBEJU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.93963, -1.21318, 10.25269 ], "start_rotation": [ 0, 0.59869, 0, 0.80098 ], "object_category": "picture", "info": { "geodesic_distance": 3.5453, "euclidean_distance": 3.46406, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.79927, 0.18682, 7.0031 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A2L26DMSVUEDP6:3E1QT0TDFRC2AISMS6Y6D9RE7BP8IG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30364, -3.21318, 0.11298 ], "start_rotation": [ 0, 0.78007, 0, 0.62569 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 22.65447, "euclidean_distance": 7.8088, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.87668, 0.18682, 7.09841 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A26LOVXF4QZZCO:31LVTDXBL9DAIOFOCI1JW6EBFA2LRL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.76921, 0.18682, 10.20633 ], "start_rotation": [ 0, 0.99518, 0, -0.0981 ], "object_category": "sofa", "info": { "geodesic_distance": 22.56218, "euclidean_distance": 7.59846, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79983, -3.21318, 3.757 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3PDJHANYK7JFA9YET9JNTJU812J6HW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.51701, 0.18682, 9.72304 ], "start_rotation": [ 0, 0.35526, 0, 0.93477 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.06954, "euclidean_distance": 5.51783, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.35414, 0.18682, 7.10364 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3BWI6RSP7ICMUZLHMIG9EUXR4Z9E7P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.23512, -3.21318, 7.68346 ], "start_rotation": [ 0, 0.80723, 0, -0.59024 ], "object_category": "sink", "info": { "geodesic_distance": 3.22684, "euclidean_distance": 2.56233, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.25658, -3.21318, 6.721 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DY46V3X3RL7BCE5NO89CGDI0VA55L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.51484, -0.21539, 8.68508 ], "start_rotation": [ 0, 0.88981, 0, -0.45634 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.29788, "euclidean_distance": 2.70477, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.95198, 0.18682, 7.68466 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A3T5UAYFKJBVTA:3VD82FOHKSREI7T27DRGZSJJ98ROC9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.46623, 0.18682, -0.08709 ], "start_rotation": [ 0, 0.76982, 0, -0.63826 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.09285, "euclidean_distance": 3.63161, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.9138, 0.18682, 3.11512 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A302KOFOYLD89A:3VZLGYJEYNDEK9I40IYKT3BXUUVZX1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.32595, 0.18682, 10.06981 ], "start_rotation": [ 0, 0.35744, 0, 0.93394 ], "object_category": "toilet", "info": { "geodesic_distance": 7.24389, "euclidean_distance": 5.39473, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.12121, 0.18682, 5.47147 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "0_edge_34_newN_1", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A2AAY4VT9L71SY:3CTOC39K39TU5F790JR0BAAJ931J73", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.50116, 0.18682, 4.62078 ], "start_rotation": [ 0, 0.49942, 0, -0.86636 ], "object_category": "toilet", "info": { "geodesic_distance": 1.928, "euclidean_distance": 1.83096, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.0273, 0.18682, 5.39424 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3RSDURM96CP59JHI9R69R7HO8XNYED", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.27423, -3.21318, 5.11813 ], "start_rotation": [ 0, 0.98017, 0, 0.19818 ], "object_category": "seating", "info": { "geodesic_distance": 19.72557, "euclidean_distance": 3.96181, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.06919, 0.18682, 6.69393 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:35LDD5557C7812KEMAT1V77MKO9KM6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38544, -3.21318, 5.67748 ], "start_rotation": [ 0, 0.15392, 0, 0.98808 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.07287, "euclidean_distance": 5.24506, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.15128, 0.18682, 7.25838 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A28U7B76HLCS1U:3PW9OPU9PSNGOXUZ4I4ZBJXP5GU121", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.95308, -2.39758, 10.20182 ], "start_rotation": [ 0, 0.77286, 0, 0.63458 ], "object_category": "shower", "info": { "geodesic_distance": 11.16957, "euclidean_distance": 5.4819, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.69611, 0.18682, 5.53304 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3OONKJ5DKEMV821WTDVLO8D1RQBOBS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.8509, 0.18682, -0.36991 ], "start_rotation": [ 0, 0.85624, 0, -0.51657 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.44875, "euclidean_distance": 7.05871, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.96471, 0.18682, 5.35411 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3YHH42UU5DIMIUVPI5I4CADO6K80L7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.41987, -3.21318, 8.55491 ], "start_rotation": [ 0, 0.99585, 0, -0.09098 ], "object_category": "cushion", "info": { "geodesic_distance": 7.49919, "euclidean_distance": 6.77748, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.76038, -3.21318, 3.41937 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3BF51CHDTXDKWYCZRK36KIKHP5GH02", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.27716, 0.18682, 9.01792 ], "start_rotation": [ 0, 0.39836, 0, 0.91723 ], "object_category": "table", "info": { "geodesic_distance": 7.02156, "euclidean_distance": 6.14382, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.03093, 0.17085, 3.05806 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1" ] ] }, { "episode_id": "ACM3TPZKLE7WC:32Z9ZLUT1NN5ZF4IT55HAJGZMZ7OHR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.45584, 0.08485, 2.03266 ], "start_rotation": [ 0, 0.69436, 0, -0.71962 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.86724, "euclidean_distance": 3.36844, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.98283, 0.18682, 4.24062 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A34CQE6RGU49L7:351SEKWQS2K0NWE4UT7ERUCWWGYMDF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.50504, 0.01402, 2.20256 ], "start_rotation": [ 0, 0.11144, 0, -0.99377 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.56305, "euclidean_distance": 3.1521, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.07382, 0.18682, 5.28594 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A33VGSEJ44ORMF:30LSNF239WYRO3QXCPP53IEBIGOI2L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61745, 0.18682, 4.46612 ], "start_rotation": [ 0, 0.99388, 0, 0.11042 ], "object_category": "shower", "info": { "geodesic_distance": 2.62012, "euclidean_distance": 2.36607, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82549, 0.18682, 5.27861 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:30JNVC0ORBN8KRHY8IXLZOBZY93QHU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.52629, -0.00584, 8.39307 ], "start_rotation": [ 0, 0.9466, 0, -0.32241 ], "object_category": "sofa", "info": { "geodesic_distance": 13.71241, "euclidean_distance": 9.38844, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80242, -3.21318, 3.55674 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7" ], "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "ACI0C2WU1NABK:3GU1KF0O4K4DT2DX8D80D8IRY0ABP6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.17901, -3.21318, 7.65206 ], "start_rotation": [ 0, 0.99792, 0, 0.06446 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.13754, "euclidean_distance": 5.16006, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.11175, 0.18682, 7.38748 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A33VGSEJ44ORMF:3OVHNO1VE840M3DN9IX8ZW85BKFZD8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.94601, 0.18682, 4.17339 ], "start_rotation": [ 0, 0.36549, 0, -0.93082 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.66639, "euclidean_distance": 1.58068, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.94175, 0.18682, 5.42678 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ACI0C2WU1NABK:3R08VXYT7EYGBZ787IAF004R87B7W0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5344, -3.21318, 8.90112 ], "start_rotation": [ 0, 0.92424, 0, -0.3818 ], "object_category": "table", "info": { "geodesic_distance": 4.68782, "euclidean_distance": 3.67511, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.06971, -3.21318, 6.36926 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3NGI5ARFTV8CG4V56GFB7W5ICOIP10", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.39775, 0.26625, 1.22018 ], "start_rotation": [ 0, 0.99824, 0, 0.05932 ], "object_category": "sofa", "info": { "geodesic_distance": 26.03447, "euclidean_distance": 4.4852, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80173, -3.21318, 3.54605 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ZV9H2YQQFAYAG6L567PNJSB35M3WO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.51724, -3.21318, 3.75732 ], "start_rotation": [ 0, 0.57271, 0, -0.81976 ], "object_category": "counter", "info": { "geodesic_distance": 2.24674, "euclidean_distance": 2.24674, "closest_goal_object_id": 289, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.2568, -3.21318, 5.86999 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3VFJCI1K412UWW1N1R43JE93FVEGR8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.67642, 0.18682, 4.3878 ], "start_rotation": [ 0, 0.2028, 0, 0.97922 ], "object_category": "table", "info": { "geodesic_distance": 4.02378, "euclidean_distance": 3.72204, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.15408, 0.1596, 3.04111 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3SNLUL3WO6Q2YG75GCWO1H1VIBBLUU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20567, 0.18682, 6.81711 ], "start_rotation": [ 0, 0.61851, 0, -0.78578 ], "object_category": "table", "info": { "geodesic_distance": 5.73163, "euclidean_distance": 4.11382, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.0833, 0.16761, 3.07272 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "ACI0C2WU1NABK:3TMSXRD2X8320DS6I2T6ZQDE5MR1WF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.4018, 0.18682, 9.93853 ], "start_rotation": [ 0, 0.89027, 0, 0.45542 ], "object_category": "table", "info": { "geodesic_distance": 7.93906, "euclidean_distance": 7.00117, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.06236, 0.16768, 3.06083 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3S3AMIZX3W8NEA2DH4D0OY7K22TDCN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.97792, 0.18682, 9.58441 ], "start_rotation": [ 0, 0.86253, 0, -0.506 ], "object_category": "shower", "info": { "geodesic_distance": 7.31235, "euclidean_distance": 5.65962, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.77269, 0.18682, 5.3588 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:369J354OFFD1AD3393158JI7J8Y6GY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.63696, -3.21318, 3.38775 ], "start_rotation": [ 0, 1, 0, -0.00051 ], "object_category": "shower", "info": { "geodesic_distance": 21.26957, "euclidean_distance": 7.60262, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.80905, 0.18682, 5.38163 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3S06PH7KST73R7SF17OG72OTY531DM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.07742, 0.23001, 1.25505 ], "start_rotation": [ 0, 0.99967, 0, 0.0257 ], "object_category": "shower", "info": { "geodesic_distance": 11.08168, "euclidean_distance": 8.09248, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.86036, 0.18682, 5.35878 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3WRFBPLXRCR8NMX7D5G2R0FKATK3NZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.2984, 0.18682, 0.14177 ], "start_rotation": [ 0, 0.89799, 0, -0.44001 ], "object_category": "shower", "info": { "geodesic_distance": 12.21337, "euclidean_distance": 8.89794, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.74398, 0.18682, 5.45115 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:3YOH7BII0BARRPEN02USI3QZ7I8KV8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.32618, 0.18682, 5.37182 ], "start_rotation": [ 0, 0.77913, 0, 0.62686 ], "object_category": "table", "info": { "geodesic_distance": 6.93868, "euclidean_distance": 3.25143, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.11146, 0.17401, 3.14887 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3RJSC4XJ12X8G5S4QI2XVLHRGWZ05A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.35226, 0.18682, 6.11758 ], "start_rotation": [ 0, 0.52626, 0, 0.85032 ], "object_category": "shower", "info": { "geodesic_distance": 6.07663, "euclidean_distance": 5.23779, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.88276, 0.18682, 5.45688 ] }, "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:37C0GNLMHH6YYTTC7D0X2YFA6GI6DO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.51281, 0.18682, 6.45151 ], "start_rotation": [ 0, 0.38453, 0, 0.92311 ], "object_category": "counter", "info": { "geodesic_distance": 4.06173, "euclidean_distance": 3.18114, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.53927, 0.18682, 5.55033 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3WI0P0II63VRKCRWZ13VDT66238DR5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.53136, 0.35365, 2.55831 ], "start_rotation": [ 0, 0.20717, 0, -0.97831 ], "object_category": "sofa", "info": { "geodesic_distance": 22.26963, "euclidean_distance": 6.57804, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.78302, -3.21318, 3.68983 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3EFVCAY5L5CY5TCSAOJ6PA6EHVKJ8G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.69638, 0.18682, 1.7795 ], "start_rotation": [ 0, 0.96418, 0, -0.26527 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.26155, "euclidean_distance": 8.75483, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.25042, 0.18682, 7.03774 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RR85PK3AV9TU:382M9COHEJIOSAXDZQ9KOMBB9E1UE7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.44452, 0.11858, 0.54525 ], "start_rotation": [ 0, 0.13219, 0, -0.99122 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.70106, "euclidean_distance": 5.42526, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.12091, 0.18682, 5.32469 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:39LOEL67OU8NKFA373RJ93PPLYL83G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.6673, -3.21318, -0.17276 ], "start_rotation": [ 0, 0.76702, 0, -0.64163 ], "object_category": "table", "info": { "geodesic_distance": 3.3933, "euclidean_distance": 2.56566, "closest_goal_object_id": 187, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.71667, -3.21318, 1.50619 ] }, "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A5A14MTB35J23:3ZGVPD4G6VK73S9KV8XN40QRE6KZT8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.77758, 0.18682, 7.29576 ], "start_rotation": [ 0, 0.9625, 0, -0.27129 ], "object_category": "sofa", "info": { "geodesic_distance": 17.53663, "euclidean_distance": 6.21005, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.93165, -3.21318, 3.58734 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_34_newN_1", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da" ], "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "ACI0C2WU1NABK:3R3YRB5GRH6L2XG1JL7YS3LKOZ8UAH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.12906, 0.18682, 5.21222 ], "start_rotation": [ 0, 0.7355, 0, 0.67753 ], "object_category": "sofa", "info": { "geodesic_distance": 21.36324, "euclidean_distance": 3.89208, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72449, -3.21318, 3.57335 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3LEP4MGT3I3445A734H5DE12KHWBDH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.36285, 0.27398, 0.84697 ], "start_rotation": [ 0, 0.99758, 0, 0.06957 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.3388, "euclidean_distance": 9.85309, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.42384, 0.18682, 7.05648 ] }, "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2AAY4VT9L71SY:3OUYGIZWR91C9FANAXBBTRM87W5P0Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.2972, 0.18682, 0.25028 ], "start_rotation": [ 0, 0.74768, 0, -0.66406 ], "object_category": "sofa", "info": { "geodesic_distance": 24.92592, "euclidean_distance": 4.93105, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80078, -3.21318, 3.64466 ] }, "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A18JNQE5GZQIX5:33IZTU6J834HJXWQ5Q4CXAEU3KKSXK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.12118, 0.18682, 7.43543 ], "start_rotation": [ 0, 0.96449, 0, 0.26411 ], "object_category": "chair", "info": { "geodesic_distance": 4.75485, "euclidean_distance": 4.30348, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.06627, 0.18682, 5.74137 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3FUI0JHJPZ11JI4XVMWNIMHE49U33D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.05999, -3.21318, 6.0622 ], "start_rotation": [ 0, 0.9366, 0, 0.3504 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 16.71491, "euclidean_distance": 3.9775, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94044, 0.18682, 6.9512 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A2MCG5W6LHSRG9:3BXQMRHWK11M4YPQGOX31UGKHDFMU4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.82017, -3.21318, 10.49457 ], "start_rotation": [ 0, 0.47265, 0, -0.88125 ], "object_category": "towel", "info": { "geodesic_distance": 12.86824, "euclidean_distance": 11.18543, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.42157, -3.21318, 0.09017 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A26GDUUFGPAYUL:358UUM7WR16B33QM8O09D1WAFP17RV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.40363, 0.18682, 6.08764 ], "start_rotation": [ 0, 0.98772, 0, 0.15622 ], "object_category": "toilet", "info": { "geodesic_distance": 2.00071, "euclidean_distance": 1.8836, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.13244, 0.18682, 5.37102 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3MH9DQ757YFMCOT45LZ8OPWNLRFGU2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.26425, 0.18682, 9.01509 ], "start_rotation": [ 0, 0.44309, 0, 0.89648 ], "object_category": "chair", "info": { "geodesic_distance": 5.9554, "euclidean_distance": 5.2737, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.1346, 0.18682, 5.81618 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3TPZPLC3M2F8Q79KTKTUVPKFA6B3PH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.01995, -3.21318, 3.40232 ], "start_rotation": [ 0, 0.04673, 0, -0.99891 ], "object_category": "seating", "info": { "geodesic_distance": 21.11165, "euclidean_distance": 4.6937, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.13422, 0.18682, 6.76199 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f" ], "0d22d1de9f4d4668b333ac24923d8940", [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3YMTUJH0DUJR0VLVAF7XA4DIC7H4TS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.2218, -3.21318, 1.01774 ], "start_rotation": [ 0, 0.98603, 0, 0.16654 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.11781, "euclidean_distance": 1.90344, "closest_goal_object_id": 223, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.75275, -3.21318, 0.01057 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3Z2R0DQ0JJHF8YOBG6ZEI3GJPKX2E5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.65322, 0.16613, -0.18573 ], "start_rotation": [ 0, 0.91678, 0, -0.39938 ], "object_category": "cushion", "info": { "geodesic_distance": 6.51163, "euclidean_distance": 5.3754, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71102, 0.18682, 4.11376 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3VNXK88KKEL7ATVWW533SUCJVLW9VW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.21472, -0.62594, 9.11185 ], "start_rotation": [ 0, 0.8956, 0, 0.44486 ], "object_category": "chair", "info": { "geodesic_distance": 5.70437, "euclidean_distance": 5.27083, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.84656, -3.21318, 9.97898 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:3H7Z272LX9AP6BZ9ZQXURBEW9QQPL0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.82117, 0.18682, 0.19009 ], "start_rotation": [ 0, 0.05237, 0, -0.99863 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.26902, "euclidean_distance": 3.03335, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.36787, 0.14817, 3.03741 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A74PT3GRDMEZ:33PPUNGG3A8UNDWSRJSS4LP9PHOZRN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.08216, 0.18682, 9.86144 ], "start_rotation": [ 0, 0.96824, 0, 0.25002 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.03998, "euclidean_distance": 3.57653, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.00076, 0.18682, 7.05375 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A2FRVUNDQQY7S9:3IAEQB9FMGNWS88IYVD10SENUG2DWJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.41985, -3.21318, 3.57168 ], "start_rotation": [ 0, 0.98628, 0, 0.16508 ], "object_category": "seating", "info": { "geodesic_distance": 20.97387, "euclidean_distance": 4.60463, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16001, 0.18682, 6.73341 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "d20808518c8d4844bb76a2e0a7b98ba4", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A28U7B76HLCS1U:3XUHV3NRVM1JR5Y0OQ9I1DG81AEH5Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.64353, 0.18682, 5.24082 ], "start_rotation": [ 0, 0.18277, 0, 0.98315 ], "object_category": "plant", "info": { "geodesic_distance": 5.13674, "euclidean_distance": 4.61356, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.26381, 0.18682, 6.70504 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3NFGEUZAH9V5G:3TUI152ZZDQXGGWK6TU071VSGHO1QG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.08526, -3.21318, 8.70075 ], "start_rotation": [ 0, 0.36661, 0, 0.93037 ], "object_category": "sink", "info": { "geodesic_distance": 3.20175, "euclidean_distance": 2.35618, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.26239, -3.21318, 9.31282 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A2TUUIV61CR0C7:31UV0MXWNSFJN09KU8R31PHN1N25IP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.4783, -3.21318, 9.90022 ], "start_rotation": [ 0, 0.63836, 0, 0.76974 ], "object_category": "picture", "info": { "geodesic_distance": 6.09397, "euclidean_distance": 5.40586, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14587, -3.21318, 5.01486 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2ZZW6KME1FUDU:3CCZ6YKWR9MQCZGHQELQOWIKIX395Y", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.57815, -3.21318, 9.60654 ], "start_rotation": [ 0, 0.70247, 0, 0.71171 ], "object_category": "plant", "info": { "geodesic_distance": 7.85194, "euclidean_distance": 7.26942, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16508, -3.21318, 3.29731 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A5WWHKD82I8UE:3Z7ISHFUH2YO58HWSAMSD4U4ZQ3Z8G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.54641, -3.21318, 7.18869 ], "start_rotation": [ 0, 0.38556, 0, -0.92268 ], "object_category": "toilet", "info": { "geodesic_distance": 8.9938, "euclidean_distance": 8.13149, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.19133, -3.21318, -0.10897 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A18JNQE5GZQIX5:3VW04L3ZLV9PFEIPZ0AZWIVMIZWXX7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.53041, 0.02272, -0.27571 ], "start_rotation": [ 0, 0.37249, 0, 0.92803 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.80257, "euclidean_distance": 5.34023, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.30737, 0.18682, 4.37597 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1K581IY10MNC0:3OB0CAO74JSHTT8KZSEFCAE1WF4YHI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.01153, 0.20079, 1.96491 ], "start_rotation": [ 0, 0.71903, 0, -0.69498 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.25147, "euclidean_distance": 1.96208, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.11499, 0.18682, 4.02059 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A26LOVXF4QZZCO:304SM51WA57A6UTP0UCU8DN2KH6BS4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.69817, -0.00128, 2.08974 ], "start_rotation": [ 0, 0.68471, 0, -0.72882 ], "object_category": "chair", "info": { "geodesic_distance": 4.28688, "euclidean_distance": 2.49709, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.33926, 0.1438, 2.9996 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A18JNQE5GZQIX5:3KKG4CDWKK18GGCHC92GJ4C6I1794S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.27437, -3.21318, 6.23744 ], "start_rotation": [ 0, 0.99871, 0, -0.05081 ], "object_category": "bed", "info": { "geodesic_distance": 18.10388, "euclidean_distance": 5.40701, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.82434, 0.18682, 4.09305 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3RYI5HXC2MJLN:3JWH6J9I9UGDQH1KSYV89JDWXI4NBA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.59723, 0.18682, 2.57335 ], "start_rotation": [ 0, 0.22267, 0, -0.97489 ], "object_category": "plant", "info": { "geodesic_distance": 1.85274, "euclidean_distance": 1.62748, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.92515, 0.18682, 4.00376 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A75XDPFNICR3T:33PPO7FECXIERDOD9E9MZ15FE4BIDL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.05518, 0.18682, 5.32949 ], "start_rotation": [ 0, 0.86096, 0, -0.50868 ], "object_category": "picture", "info": { "geodesic_distance": 1.89234, "euclidean_distance": 1.64967, "closest_goal_object_id": 161, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.71885, 0.18682, 6.28333 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A75XDPFNICR3T:34T446B1C2HTFQ1J5SP59RN17AJ0C9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.68074, 0.07624, 0.83053 ], "start_rotation": [ 0, 0.75174, 0, 0.65946 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.69492, "euclidean_distance": 4.33383, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.27468, 0.18682, 4.40355 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1J3ON3YLGJAM6:3RWE2M8QWJDC6UYAUIYJP2HD6EL0NF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.29849, 0.18682, 3.73071 ], "start_rotation": [ 0, 0.98699, 0, 0.1608 ], "object_category": "towel", "info": { "geodesic_distance": 3.70328, "euclidean_distance": 1.50649, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.47044, 0.18682, 5.25146 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2L26DMSVUEDP6:3TAYZSBPLNBGIHTTH1JJ7KKYQBWS2M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.22255, -3.21318, 6.8803 ], "start_rotation": [ 0, 0.53688, 0, 0.84366 ], "object_category": "bed", "info": { "geodesic_distance": 18.46495, "euclidean_distance": 3.52462, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.36852, 0.18682, 6.86726 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RUIQRXJBDRZFQKB7Y4NAU5C4HNLLY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.38791, 0.18682, 6.05647 ], "start_rotation": [ 0, 0.62292, 0, 0.78229 ], "object_category": "cushion", "info": { "geodesic_distance": 1.90431, "euclidean_distance": 1.76158, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.85927, 0.18682, 7.08713 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3FQ5JJ512NREJK5EYB818MWMKCRKN5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.60561, 0.18682, 5.40036 ], "start_rotation": [ 0, 0.74737, 0, 0.66441 ], "object_category": "picture", "info": { "geodesic_distance": 2.43209, "euclidean_distance": 2.0732, "closest_goal_object_id": 161, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.63784, 0.18682, 6.28647 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3CTOC39K39TU5F790JR0BAAJ58A7J6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.02581, -3.21318, 10.3169 ], "start_rotation": [ 0, 0.69089, 0, -0.72296 ], "object_category": "bed", "info": { "geodesic_distance": 15.25337, "euclidean_distance": 4.91888, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.32714, 0.18682, 6.87953 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "902b0496eeb94742995708a15c69bb26", "path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A26LOVXF4QZZCO:39RP059MEJW78ZGKGXG8W4OWTTMBMT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.42695, 0.18682, 5.22342 ], "start_rotation": [ 0, 0.0415, 0, -0.99914 ], "object_category": "cushion", "info": { "geodesic_distance": 3.85294, "euclidean_distance": 1.01516, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.81351, 0.18682, 4.26114 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A1J3ON3YLGJAM6:3A1PQ49WVJKK3NXHN376YN3RQVZH1A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.69062, 0.03537, 1.23836 ], "start_rotation": [ 0, 0.61164, 0, 0.79114 ], "object_category": "seating", "info": { "geodesic_distance": 7.72791, "euclidean_distance": 5.99899, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11887, 0.18682, 6.65491 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2ZZW6KME1FUDU:3IXEICO794M5FIP9T30C72XW8YNT62", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.87302, 0.18682, 7.08189 ], "start_rotation": [ 0, 0.24289, 0, -0.97005 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.96153, "euclidean_distance": 2.92704, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.08036, 0.18682, 6.85961 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3NGI5ARFTV8CG4V56GFB7W5IBLQP11", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.42793, 0.18682, 3.41793 ], "start_rotation": [ 0, 0.18977, 0, 0.98183 ], "object_category": "towel", "info": { "geodesic_distance": 3.39277, "euclidean_distance": 2.79614, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.55141, 0.18682, 5.28566 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RYI5HXC2MJLN:3S0TNUHWKVLL27C00SXVMCB1B8B8D8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.12118, 0.18682, 7.43543 ], "start_rotation": [ 0, 0.96449, 0, 0.26411 ], "object_category": "chair", "info": { "geodesic_distance": 4.75485, "euclidean_distance": 4.30348, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.06627, 0.18682, 5.74137 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:32M8BPYGAVPH3XY4B4AU5M8CRW8IGC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.78852, 0.18682, 9.89322 ], "start_rotation": [ 0, 0.9327, 0, 0.36064 ], "object_category": "cushion", "info": { "geodesic_distance": 4.41908, "euclidean_distance": 3.89134, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.86002, 0.18682, 6.99445 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] ] }, { "episode_id": "AD1ILDUXZHASF:3YMTUJH0DUJR0VLVAF7XA4DIC7HT4H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.12685, 0.18682, 8.69015 ], "start_rotation": [ 0, 0.38768, 0, -0.92179 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.19069, "euclidean_distance": 2.03693, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.11384, 0.18682, 6.94162 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A2AAY4VT9L71SY:3R9WASFE21JXKNRJ0OSYNWBQMUTFZQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.85737, 0.18682, 9.27846 ], "start_rotation": [ 0, 0.93046, 0, 0.36639 ], "object_category": "sink", "info": { "geodesic_distance": 4.10087, "euclidean_distance": 3.84922, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.92773, 0.18682, 5.64591 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A9K0CV70JWG1W:3PXX5PX6LZ166Y7VJUQ3NDTWYAEABK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.4377, -3.21318, 5.53518 ], "start_rotation": [ 0, 0.03065, 0, -0.99953 ], "object_category": "toilet", "info": { "geodesic_distance": 8.61491, "euclidean_distance": 6.65041, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16705, -3.21318, -0.05533 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A5WWHKD82I8UE:3M1CVSFP628TA49K2CNTI2OVKB6QA5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.13006, -3.21318, 0.68344 ], "start_rotation": [ 0, 0.90258, 0, -0.43052 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 22.08152, "euclidean_distance": 7.34901, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.75091, 0.18682, 7.02393 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3HUTX6F6VWQ1KP10AK2ANFAXTM2O2U", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.6429, -3.21318, 10.12419 ], "start_rotation": [ 0, 0.90231, 0, -0.43108 ], "object_category": "cushion", "info": { "geodesic_distance": 7.77277, "euclidean_distance": 7.23656, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93612, -3.21318, 3.28712 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A101U3FTZYY87V:3FFJ6VRIL3RKSTNJX2LRKULWLGWI0P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.75608, 0.18682, 4.46744 ], "start_rotation": [ 0, 0.39958, 0, -0.9167 ], "object_category": "seating", "info": { "geodesic_distance": 4.54982, "euclidean_distance": 3.44601, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04596, 0.18682, 6.70223 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3E7TUJ2EGEPLGCVA5K39M86CVEJD9S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.73005, -3.21318, 8.7546 ], "start_rotation": [ 0, 0.00562, 0, 0.99998 ], "object_category": "towel", "info": { "geodesic_distance": 11.5755, "euclidean_distance": 10.02368, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.41748, -3.21318, 0.0178 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2AAY4VT9L71SY:3GM6G9ZBKP074LA1GJ7TWYUIYZCTMO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.81931, 0.18682, 7.60356 ], "start_rotation": [ 0, 0.91617, 0, 0.40078 ], "object_category": "sink", "info": { "geodesic_distance": 2.46586, "euclidean_distance": 2.23665, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.89459, 0.18682, 5.68493 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AZPZDX26SYMFY:3ERMJ6L4D0VK6NDU3G4SR22091C7MF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.59683, 0.18682, 4.21714 ], "start_rotation": [ 0, 0.68464, 0, -0.72888 ], "object_category": "toilet", "info": { "geodesic_distance": 1.32679, "euclidean_distance": 1.20868, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.04718, 0.18682, 3.02647 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3N2BF7Y2VSXHZCJ6GPQ4IFRUO6BHMZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.00317, 0.17518, 1.95512 ], "start_rotation": [ 0, 0.98233, 0, -0.18717 ], "object_category": "counter", "info": { "geodesic_distance": 3.55323, "euclidean_distance": 3.25497, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.84265, 0.18682, 4.91928 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2MCG5W6LHSRG9:3A0EX8ZRNAR72G5YZ04JQZB312HYBK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.24884, 0.18682, 9.61711 ], "start_rotation": [ 0, 0.99959, 0, 0.02846 ], "object_category": "counter", "info": { "geodesic_distance": 5.17862, "euclidean_distance": 4.66161, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.54792, 0.18682, 5.71704 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3JNQLM5FT6PTE4Y3XSMIVY63YH9L2M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.25064, 0.18682, 8.52709 ], "start_rotation": [ 0, 0.89138, 0, -0.45326 ], "object_category": "sink", "info": { "geodesic_distance": 3.46859, "euclidean_distance": 3.255, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90593, 0.18682, 5.66011 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2MCG5W6LHSRG9:3CFJTT4SXVTYA4N3I160Z9VJSTHI71", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.37242, 0.18682, 2.20482 ], "start_rotation": [ 0, 0.08776, 0, 0.99614 ], "object_category": "bed", "info": { "geodesic_distance": 4.14612, "euclidean_distance": 3.89332, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.82878, 0.18682, 4.12694 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A2L26DMSVUEDP6:3GNA64GUZG7W4YX37GWCAR89TYF5QR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.96164, 0.29609, 1.13329 ], "start_rotation": [ 0, 0.98518, 0, 0.17155 ], "object_category": "seating", "info": { "geodesic_distance": 3.40355, "euclidean_distance": 3.18637, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.54839, 0.18682, 4.04807 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "AXY0D2AMLKE2A:3YMTUJH0DUJR0VLVAF7XA4DIC8OT4Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.27053, 0.18682, 5.37417 ], "start_rotation": [ 0, 0.08421, 0, 0.99645 ], "object_category": "sink", "info": { "geodesic_distance": 3.34032, "euclidean_distance": 3.12523, "closest_goal_object_id": 16, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.48738, 0.18682, 2.91462 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2AAY4VT9L71SY:3RRCEFRB7OFR49REATGCAA7W61VB4P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.14023, 0.18682, 3.76761 ], "start_rotation": [ 0, 0.98921, 0, 0.14652 ], "object_category": "chair", "info": { "geodesic_distance": 2.56935, "euclidean_distance": 1.94525, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.25163, 0.14173, 2.93438 ] }, "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2ZZW6KME1FUDU:31LM9EDVONVJ80ZWGQ8P77W95NIJNW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.49932, 0.18682, 2.38972 ], "start_rotation": [ 0, 0.18068, 0, -0.98354 ], "object_category": "plant", "info": { "geodesic_distance": 6.38751, "euclidean_distance": 4.43413, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.23472, 0.18682, 6.78624 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42" ], "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3NXNZ5RS1C05Z3U0E70NMGWG93S977", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.87979, 0.18682, 5.45047 ], "start_rotation": [ 0, 0.19119, 0, 0.98155 ], "object_category": "bed", "info": { "geodesic_distance": 2.50644, "euclidean_distance": 1.29326, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.98656, 0.18682, 4.14467 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3RYI5HXC2MJLN:36TFCYNS46DSTOIAUWSDTW7SU9VHXG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.3406, -3.21318, 8.29596 ], "start_rotation": [ 0, 0.11209, 0, -0.9937 ], "object_category": "towel", "info": { "geodesic_distance": 11.0453, "euclidean_distance": 9.43136, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.41827, -3.21318, 0.02401 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A5WWHKD82I8UE:38F71OA9GVZXLGS0LZ24FUFH7PVFMR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.19121, -3.21318, 2.77585 ], "start_rotation": [ 0, 0.7933, 0, -0.60883 ], "object_category": "toilet", "info": { "geodesic_distance": 3.24001, "euclidean_distance": 2.97601, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.28703, -3.21318, -0.12175 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A28U7B76HLCS1U:358UUM7WR16B33QM8O09D1WAFPWR7A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.68318, -3.21318, -0.14354 ], "start_rotation": [ 0, 0.30329, 0, 0.9529 ], "object_category": "picture", "info": { "geodesic_distance": 5.1997, "euclidean_distance": 4.37561, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.13613, -3.21318, 3.12692 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A3RR85PK3AV9TU:352YTHGROXG1VMU0ALQ8WLAU1EJ4HH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.46071, -3.21318, 7.61891 ], "start_rotation": [ 0, 0.84939, 0, 0.52776 ], "object_category": "plant", "info": { "geodesic_distance": 5.88662, "euclidean_distance": 5.57489, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.02313, -3.21318, 3.36497 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AZPZDX26SYMFY:358010RM5GWXBPDUZL9H8XY12OEXVU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5232, -3.21318, 5.70934 ], "start_rotation": [ 0, 0.04542, 0, -0.99897 ], "object_category": "picture", "info": { "geodesic_distance": 3.10358, "euclidean_distance": 2.4067, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.20617, -3.21318, 4.96265 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "ACI0C2WU1NABK:39LNWE0K4WZ08FZZV9ZB919304HUII", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.03722, -0.43601, 8.76926 ], "start_rotation": [ 0, 0.77439, 0, -0.6327 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.5051, "euclidean_distance": 4.652, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94095, 0.18682, 6.9505 ] }, "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3JZQSN0I3SDXT6WEAW492PVKC5NGFT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.83816, 0.18682, 7.5006 ], "start_rotation": [ 0, 0.5084, 0, -0.86112 ], "object_category": "counter", "info": { "geodesic_distance": 6.35179, "euclidean_distance": 5.71853, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.58138, 0.18682, 5.6147 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2L26DMSVUEDP6:31LM9EDVONVJ80ZWGQ8P77W95NMNJ4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.88016, 0.18682, 0.19572 ], "start_rotation": [ 0, 0.49777, 0, -0.86731 ], "object_category": "counter", "info": { "geodesic_distance": 5.0851, "euclidean_distance": 4.92844, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.74622, 0.18682, 4.96045 ] }, "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A9K0CV70JWG1W:36PW28KO41Z4D1JFTLSTOLZH18ZEAY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.73272, -3.21318, 7.23738 ], "start_rotation": [ 0, 0.66813, 0, 0.74404 ], "object_category": "picture", "info": { "geodesic_distance": 3.91095, "euclidean_distance": 3.50017, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.12697, -3.21318, 4.82879 ] }, "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_42_newN_1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3CPLWGV3MQ2U2OMNUEHCIDI6AJU9NI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.29193, 0.18682, 3.75753 ], "start_rotation": [ 0, 0.98345, 0, -0.1812 ], "object_category": "seating", "info": { "geodesic_distance": 5.18407, "euclidean_distance": 3.63163, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15919, 0.18682, 6.79033 ] }, "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:33LK57MYLV86OSW568SXUVU5BKUZS0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.26015, -3.21318, 6.13871 ], "start_rotation": [ 0, 0.81529, 0, -0.57905 ], "object_category": "bed", "info": { "geodesic_distance": 17.15505, "euclidean_distance": 3.79417, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.22093, 0.18682, 6.81528 ] }, "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A34CQE6RGU49L7:3R2PKQ87NYBHV7UQM78PIRS9NIYIMY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.24365, 0.18682, 9.62878 ], "start_rotation": [ 0, 0.93844, 0, -0.34543 ], "object_category": "sink", "info": { "geodesic_distance": 5.42078, "euclidean_distance": 4.92689, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.96644, 0.18682, 5.63709 ] }, "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A2L26DMSVUEDP6:31EUONYN2X6AHGZ2YUMLPK78QKZVOD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.56544, 0.18682, 7.4566 ], "start_rotation": [ 0, 0.91736, 0, -0.39805 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.62756, "euclidean_distance": 3.37651, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.15749, 0.18682, 4.26856 ] }, "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A21ZK49H9LSSRY:34S6N1K2ZXMXTU1LGDPPI2C5O1MLH2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.46161, -3.21318, 5.58687 ], "start_rotation": [ 0, 0.93873, 0, -0.34465 ], "object_category": "cushion", "info": { "geodesic_distance": 5.86037, "euclidean_distance": 4.92837, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.81107, -3.21318, 3.43911 ] }, "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:32RIADZISU7QLV8GLF270ZHWAPU4SW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.62129, -3.21318, 7.2349 ], "start_rotation": [ 0, 0.8214, 0, 0.57035 ], "object_category": "towel", "info": { "geodesic_distance": 10.12115, "euclidean_distance": 7.11979, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.28103, -3.21318, 0.08524 ] }, "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AZPZDX26SYMFY:33M4IA01QI45IIWDQ147709YIJ7XRA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.91519, 0.34553, 0.49426 ], "start_rotation": [ 0, 0.27524, 0, -0.96137 ], "object_category": "plant", "info": { "geodesic_distance": 4.30128, "euclidean_distance": 4.09103, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79985, 0.18682, 4.02423 ] }, "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:30BXRYBRP60D4ODKKRWRRDTLL7PHWN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.36564, 0.18682, 0.01522 ], "start_rotation": [ 0, 0.59612, 0, -0.8029 ], "object_category": "toilet", "info": { "geodesic_distance": 6.9521, "euclidean_distance": 6.0115, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.11102, 0.18682, 5.47337 ] }, "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3F0NFNLOLFJT0:3QHK8ZVMIOLN2HYZGLFTWR976PQLBA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.44502, -3.21318, 8.12177 ], "start_rotation": [ 0, 0.3544, 0, 0.9351 ], "object_category": "table", "info": { "geodesic_distance": 3.90603, "euclidean_distance": 3.13624, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.06045, -3.21318, 6.4231 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A33VGSEJ44ORMF:3EG49X351WFCWZYTYD19W5I2F9QX6S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61273, -3.21318, 9.75337 ], "start_rotation": [ 0, 0.26977, 0, 0.96293 ], "object_category": "cushion", "info": { "geodesic_distance": 8.71306, "euclidean_distance": 7.84429, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.80996, -3.21318, 3.39758 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A1S0N5BIXAQO8I:37C0GNLMHH6YYTTC7D0X2YFAZNQ6D3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.26373, -3.21318, 6.20828 ], "start_rotation": [ 0, 0.79813, 0, -0.60248 ], "object_category": "towel", "info": { "geodesic_distance": 8.40462, "euclidean_distance": 7.08556, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.27347, -3.21318, 0.00347 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3VE8AYVF8O0I0RQWRYSLACEMH0R8F7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.78392, 0.18682, 7.0316 ], "start_rotation": [ 0, 0.79675, 0, 0.60431 ], "object_category": "sofa", "info": { "geodesic_distance": 17.55873, "euclidean_distance": 6.06117, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.76934, -3.21318, 3.75213 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A28U7B76HLCS1U:3OLQQLKKNUSFEUMJNR56HK20L6NEJO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.18252, -3.21318, 6.12437 ], "start_rotation": [ 0, 0.09984, 0, 0.995 ], "object_category": "picture", "info": { "geodesic_distance": 1.74162, "euclidean_distance": 1.48633, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16434, -3.21318, 5.0013 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A9K0CV70JWG1W:3CFVK00FWNOHW5H4KUYLLBNF80SL66", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.7866, 0.18682, 4.34885 ], "start_rotation": [ 0, 0.98696, 0, -0.16095 ], "object_category": "counter", "info": { "geodesic_distance": 2.29471, "euclidean_distance": 2.00147, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.86414, 0.18682, 4.92848 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3NLZY2D53RSA6N0OZ3CJRG45NLXQLI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.43699, 0.18682, 9.8606 ], "start_rotation": [ 0, 0.83845, 0, -0.54498 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.02071, "euclidean_distance": 3.39388, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.01397, 0.18682, 7.03199 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] ] }, { "episode_id": "A272X64FOZFYLB:33TIN5LC06DOENQ11GQNZTGCO84Y9L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.82728, 0.18682, -0.13776 ], "start_rotation": [ 0, 0.98565, 0, -0.16878 ], "object_category": "sink", "info": { "geodesic_distance": 6.49819, "euclidean_distance": 5.88056, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.01737, 0.18682, 5.25478 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A2MCG5W6LHSRG9:3ERET4BTVOCTUI1KX1PWQL129YXK99", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.15314, -3.21318, 6.89868 ], "start_rotation": [ 0, 0.99893, 0, 0.04622 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.79358, "euclidean_distance": 3.42078, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.83695, 0.18682, 7.09789 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", [ "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:3X4JMASXCOCA5L9DRSTAY7HJJZBB0J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.22938, -0.51585, 8.96737 ], "start_rotation": [ 0, 0.88291, 0, 0.46955 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.56113, "euclidean_distance": 2.63697, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07981, 0.18682, 7.55201 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "AREQ43Q0T8ENT:36WLNQG781D9WBO7ZZSPJWJNXRSBEE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.53213, 0.18682, 2.57357 ], "start_rotation": [ 0, 0.12897, 0, -0.99165 ], "object_category": "counter", "info": { "geodesic_distance": 7.61446, "euclidean_distance": 5.04844, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.55047, 0.18682, 5.57254 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ] }, { "episode_id": "A16K7X677N4WN6:3WQ3B2KGEAJACAUVNBXACC0TORIB1N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.85037, 0.18682, 6.97029 ], "start_rotation": [ 0, 0.7352, 0, -0.67785 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.86909, "euclidean_distance": 3.0747, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.26373, 0.18682, 4.33068 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A19C2SO0IMRZ1L:3HMVI3QICLV6PIN6X3BUKNYU67H1YK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.28282, 0.18682, 5.89144 ], "start_rotation": [ 0, 0.91157, 0, 0.41114 ], "object_category": "counter", "info": { "geodesic_distance": 4.07503, "euclidean_distance": 2.84262, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.57366, 0.18682, 5.60225 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3VNXK88KKEL7ATVWW533SUCI8AKV9V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.70232, 0.18682, 7.17751 ], "start_rotation": [ 0, 0.79283, 0, -0.60944 ], "object_category": "towel", "info": { "geodesic_distance": 6.01178, "euclidean_distance": 5.62916, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.47985, 0.18682, 5.28186 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A75XDPFNICR3T:30JNVC0ORBN8KRHY8IXLZOBZN64HQ5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.24747, -3.21318, 3.43252 ], "start_rotation": [ 0, 0.47583, 0, 0.87954 ], "object_category": "towel", "info": { "geodesic_distance": 4.96269, "euclidean_distance": 3.92928, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.18874, -3.21318, 0.05938 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "41f833ed92c0489bb85a911668189278", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2L26DMSVUEDP6:39KFRKBFIPYRLAU73595WJB2ZIDYOQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.48176, 0.18682, 6.1177 ], "start_rotation": [ 0, 0.92207, 0, 0.38702 ], "object_category": "seating", "info": { "geodesic_distance": 2.90912, "euclidean_distance": 2.45865, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.03083, 0.18682, 6.60903 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A13WYZ8AXD6ODX:3GGAI1SQEX1QI48QUXC37OUE1OPCME", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.42175, -3.21318, 3.60997 ], "start_rotation": [ 0, 0.30409, 0, 0.95264 ], "object_category": "sink", "info": { "geodesic_distance": 4.50657, "euclidean_distance": 4.13847, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.23972, -3.21318, 6.66919 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1NLDZ3T0S2CX:3QJOXOW4XLU5F2S4QOIYXCUHM50MEP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38765, -3.21318, 7.39504 ], "start_rotation": [ 0, 0.72915, 0, -0.68436 ], "object_category": "plant", "info": { "geodesic_distance": 5.65118, "euclidean_distance": 5.35728, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.17605, -3.21318, 3.33318 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ] ] }, { "episode_id": "A2O65E9TOSX7GV:3U84XHCDIEGNM7UUG7WFWSEZRE7Z4N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.21124, 0.18682, 6.52195 ], "start_rotation": [ 0, 0.90911, 0, 0.41655 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.94627, "euclidean_distance": 1.8685, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.0529, 0.18682, 6.93519 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "AKYXQY5IP7S0Z:3HPZF4IVNOWQCLX4D00E1JHLAYSCYT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.89622, 0.2434, 1.63135 ], "start_rotation": [ 0, 0.92505, 0, -0.37983 ], "object_category": "chair", "info": { "geodesic_distance": 2.6455, "euclidean_distance": 2.44612, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.38631, 0.18682, 3.52266 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3IHR8NYAM94T83SOTYYD5UCK03R4PR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13139, -3.21318, 0.89241 ], "start_rotation": [ 0, 0.23985, 0, -0.97081 ], "object_category": "seating", "info": { "geodesic_distance": 23.62402, "euclidean_distance": 6.67838, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.05147, 0.18682, 6.61759 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "04cdd02138664b138f281bb5ad8b957f", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:34J10VATJH18GMSIE0F6Z0CD85XIQ4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.31816, 0.18682, 4.02837 ], "start_rotation": [ 0, 0.33072, 0, -0.94373 ], "object_category": "sofa", "info": { "geodesic_distance": 23.02373, "euclidean_distance": 3.45099, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.88496, -3.21318, 3.55452 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3GWRDHAURRNK6:379J5II41QJL9KAJQCHJXZFR6L7EL0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.3982, 0.18682, 9.70291 ], "start_rotation": [ 0, 0.68425, 0, 0.72925 ], "object_category": "toilet", "info": { "geodesic_distance": 6.94995, "euclidean_distance": 5.04733, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07968, 0.18682, 5.45476 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A16184N1RO5OJV:3IO1LGZLKB0MHYXLQ5PHG619LX2867", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.59992, 0.18682, 5.58956 ], "start_rotation": [ 0, 0.99963, 0, 0.02731 ], "object_category": "bed", "info": { "geodesic_distance": 2.11676, "euclidean_distance": 1.95294, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.79797, 0.18682, 4.04387 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A2DDPSXH2X96RF:32N49TQG3ILLFC51OBH3OPN2C9RAVA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.1211, -3.21318, 6.01804 ], "start_rotation": [ 0, 0.29243, 0, -0.95629 ], "object_category": "sink", "info": { "geodesic_distance": 1.38144, "euclidean_distance": 1.33343, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.18198, -3.21318, 6.8442 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A3F0NFNLOLFJT0:336KAV9KYSVDE352G7B8P68YKUF2Y4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.6961, 0.18682, 2.61834 ], "start_rotation": [ 0, 0.3183, 0, -0.94799 ], "object_category": "plant", "info": { "geodesic_distance": 1.83144, "euclidean_distance": 1.64073, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79454, 0.18682, 3.99771 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3HMVI3QICLV6PIN6X3BUKNYU91FY16", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.21203, -3.21318, 6.97826 ], "start_rotation": [ 0, 0.37497, 0, -0.92704 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.70587, "euclidean_distance": 3.42652, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.93189, 0.18682, 6.96318 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_44_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "0_edge_42_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "0_edge_42_newN_1", [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A28HB7240OFGEW:37U1UTWH9XPF3HV5ITSFR1S5HRSR8E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.97258, -3.21318, 6.03349 ], "start_rotation": [ 0, 0.60798, 0, 0.79395 ], "object_category": "shower", "info": { "geodesic_distance": 17.31326, "euclidean_distance": 5.18451, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.69094, 0.18682, 5.54241 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:358UUM7WR16B33QM8O09D1WATQXR7R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.47718, 0.18682, 4.40902 ], "start_rotation": [ 0, 0.94574, 0, 0.32493 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.9101, "euclidean_distance": 7.28115, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.23062, 0.18682, 7.15506 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2O65E9TOSX7GV:38F5OAUN5PFYE9CJCJOFZXU4JRYH7G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.59268, -3.21318, 7.31154 ], "start_rotation": [ 0, 0.70764, 0, 0.70658 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.34286, "euclidean_distance": 3.50952, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.93739, 0.18682, 6.95548 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:39LNWE0K4WZ08FZZV9ZB9193UHNIUW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.17539, -3.21318, 9.34669 ], "start_rotation": [ 0, 0.99596, 0, 0.08977 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.7476, "euclidean_distance": 4.58139, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.71543, 0.18682, 7.06054 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3NFGEUZAH9V5G:3Z4GS9HPNXD1LK67ZA238K5A4D977O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.67568, 0.18682, 9.28153 ], "start_rotation": [ 0, 0.9493, 0, 0.31438 ], "object_category": "toilet", "info": { "geodesic_distance": 6.28556, "euclidean_distance": 5.16451, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07356, 0.18682, 5.3692 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3FSDH6HUZPNQ8:34X6J5FLPV14BXCOWI06B1RE18UJQJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.01123, 0.04965, -0.62661 ], "start_rotation": [ 0, 0.83463, 0, -0.55081 ], "object_category": "picture", "info": { "geodesic_distance": 2.01826, "euclidean_distance": 2.01088, "closest_goal_object_id": 146, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.39986, 0.18682, 0.46646 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A5A14MTB35J23:3MH9DQ757YFMCOT45LZ8OPWNCE4UG6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.07572, 0.18682, 5.39445 ], "start_rotation": [ 0, 0.79055, 0, 0.6124 ], "object_category": "sofa", "info": { "geodesic_distance": 18.85287, "euclidean_distance": 5.51999, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.8269, -3.21318, 3.5304 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0e45c1af5098415c9bbd3a6ce537c7cb", "path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "0_edge_34_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3Z7VU45IP0K6U8XBTPDDYU7WC0IZ14", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.85577, 0.15116, -0.09663 ], "start_rotation": [ 0, 0.99997, 0, -0.00824 ], "object_category": "cushion", "info": { "geodesic_distance": 6.31867, "euclidean_distance": 5.18629, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67742, 0.18682, 4.18839 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3ZAZR5XV03LQHB799M2XFQQNFHUZCI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.37973, 0.21861, 8.09092 ], "start_rotation": [ 0, 0.78447, 0, 0.62017 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.68008, "euclidean_distance": 2.38171, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.99499, 0.18682, 7.73643 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", [ "0bc53661f71543df85e5499ea85f74c7" ], "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] ] }, { "episode_id": "A2GQH4SWIOFH2L:3KIBXJ1WD7XW155QZQ8ENBWR40XOKB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.06938, 0.18682, 6.9606 ], "start_rotation": [ 0, 0.47072, 0, -0.88228 ], "object_category": "plant", "info": { "geodesic_distance": 3.69169, "euclidean_distance": 3.21122, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.85251, 0.18682, 9.01827 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3YJ6NA41JDJJBLB9W5LHBW13IZKPJ4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.37219, -1.14631, 10.09896 ], "start_rotation": [ 0, 0.59778, 0, -0.80166 ], "object_category": "bed", "info": { "geodesic_distance": 9.14047, "euclidean_distance": 7.5734, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.31402, 0.18682, 6.81677 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55" ], "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3WT783CTPDKUZD4T38MUT8JKSSVCB8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.47648, -1.28022, 10.50481 ], "start_rotation": [ 0, 0.63409, 0, 0.77326 ], "object_category": "shower", "info": { "geodesic_distance": 9.57925, "euclidean_distance": 5.30147, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.8435, 0.18682, 5.52653 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A7XL1V3G7C2VV:3W92K5RLWWKO96TKTFQMGE7GMIWV57", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.57192, 0.13281, 1.85376 ], "start_rotation": [ 0, 0.99622, 0, 0.0869 ], "object_category": "sink", "info": { "geodesic_distance": 4.7944, "euclidean_distance": 4.17542, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.01413, 0.18682, 5.23626 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AOMFEAWQHU3D8:3Y5140Z9DZJNGAR3EN0HZVM4JZ3IP3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.2735, -1.03525, 9.70096 ], "start_rotation": [ 0, 0.74841, 0, -0.66324 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.63302, "euclidean_distance": 5.38561, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94645, 0.18682, 6.9428 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AKYXQY5IP7S0Z:3AAPLD8UCEKLC79QPMRG4TMMBRRTHF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.37322, 0.18682, -0.1136 ], "start_rotation": [ 0, 0.78361, 0, -0.62126 ], "object_category": "cushion", "info": { "geodesic_distance": 7.5918, "euclidean_distance": 6.15826, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.76321, 0.18682, 4.12625 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", [ "c51b92525949496b94fdde3b4be91ede" ], "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2O65E9TOSX7GV:36NEMU28XHGZW2EVBOC4JI1HTFKMWW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.10246, 0.18682, 7.2792 ], "start_rotation": [ 0, 0.89653, 0, 0.44299 ], "object_category": "sofa", "info": { "geodesic_distance": 20.21082, "euclidean_distance": 5.09505, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.7998, -3.21318, 3.6902 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3W2LOLRXLDIZYIX6RIPIH61VYX6KR6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.1942, 0.18682, 6.86563 ], "start_rotation": [ 0, 0.55643, 0, -0.83089 ], "object_category": "toilet", "info": { "geodesic_distance": 2.72236, "euclidean_distance": 2.42091, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07918, 0.18682, 5.46771 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3L8LSM7V7KX3T:3YZ8UPK3VVP9VCDZ3Z3PYYB8EAUCU8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.51457, -3.21318, 1.95056 ], "start_rotation": [ 0, 0.11264, 0, 0.99364 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 20.85127, "euclidean_distance": 6.49586, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.78812, 0.18682, 7.10963 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ] ] }, { "episode_id": "A2J5DN5UMU0A3Z:36H9ULYP64X7K8MFI2PCZ2N0XB9JFQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.05168, 0.18682, 4.98043 ], "start_rotation": [ 0, 0.6149, 0, -0.7886 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.59894, "euclidean_distance": 5.74562, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.2268, 0.18682, 6.93316 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:30LB5CDZNED6NJCTX69DKPOMA6J0Z8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.08915, -0.01318, 0.04901 ], "start_rotation": [ 0, 0.72965, 0, -0.68382 ], "object_category": "shower", "info": { "geodesic_distance": 7.04545, "euclidean_distance": 5.51118, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.85039, 0.18682, 5.25945 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EG49X351WFCWZYTYD19W5I2CCL6XZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.35566, -3.21318, 5.76751 ], "start_rotation": [ 0, 0.54586, 0, -0.83787 ], "object_category": "cushion", "info": { "geodesic_distance": 5.6739, "euclidean_distance": 4.91978, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.00051, -3.21318, 3.25616 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:31T4R4OBOUJ7X113QRAEO6XO65OC79", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.40364, 0.18682, 2.76359 ], "start_rotation": [ 0, 0.61936, 0, 0.7851 ], "object_category": "cushion", "info": { "geodesic_distance": 3.88436, "euclidean_distance": 3.66698, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.72928, 0.18682, 4.12191 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:352YTHGROXG1VMU0ALQ8WLAUVNLH48", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.25855, 0.12902, -0.79986 ], "start_rotation": [ 0, 0.9883, 0, 0.15254 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.37748, "euclidean_distance": 4.12082, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.34177, 0.14443, 3.00486 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A31BA1WLSWUSY1:3PEIJLRY6VWAQEDZPVEDUZHEMWGWXC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.30113, -2.15011, 10.0403 ], "start_rotation": [ 0, 0.97216, 0, -0.23434 ], "object_category": "cushion", "info": { "geodesic_distance": 10.83095, "euclidean_distance": 9.19918, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.98757, -3.21318, 3.32257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:39LOEL67OU8NKFA373RJ93PPB64835", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.63895, -3.21318, -0.05068 ], "start_rotation": [ 0, 0.32383, 0, -0.94611 ], "object_category": "picture", "info": { "geodesic_distance": 5.13919, "euclidean_distance": 4.27552, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04924, -3.21318, 3.2738 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2O65E9TOSX7GV:39ZSFO5CAAZW3QJ5DRKBL2O3409UJM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.41757, -3.21318, 6.59101 ], "start_rotation": [ 0, 0.58278, 0, 0.81263 ], "object_category": "seating", "info": { "geodesic_distance": 15.81419, "euclidean_distance": 4.12714, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.21033, 0.18682, 6.75354 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "d20808518c8d4844bb76a2e0a7b98ba4", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3T5UAYFKJBVTA:3UN61F00HYSWGZC3KVLCFHIE2KXR57", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.09298, 0.18682, 5.26047 ], "start_rotation": [ 0, 0.49223, 0, 0.87046 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.30129, "euclidean_distance": 5.51532, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.36106, 0.18682, 7.03802 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A28HB7240OFGEW:3U0SRXB7CF806OI9OVHY9YI06M0RNB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.02326, -3.21318, 6.68169 ], "start_rotation": [ 0, 0.00437, 0, -0.99999 ], "object_category": "seating", "info": { "geodesic_distance": 17.83923, "euclidean_distance": 3.40182, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14675, 0.18682, 6.80608 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "0_edge_80_newN_0", "bc280058ef514e16860da03ecb6cdb07", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "c3cbc9cde04b4568aad232bf17a0bc1e", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", [ "b2157583eedf426383de6e6e9753a4da" ], "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da" ], "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AZPZDX26SYMFY:3U84XHCDIEGNM7UUG7WFWSEZO56Z41", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.6376, 0.18682, 7.07291 ], "start_rotation": [ 0, 0.59224, 0, 0.80576 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.63031, "euclidean_distance": 3.05969, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.09598, 0.18682, 4.38103 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3GFK2QRXXBK1OVTPJPVI2GQV78GW5E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.1182, -3.21318, 7.3717 ], "start_rotation": [ 0, 0.95802, 0, 0.28671 ], "object_category": "picture", "info": { "geodesic_distance": 3.34732, "euclidean_distance": 3.17485, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.1076, -3.21318, 4.93507 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A75XDPFNICR3T:3KKG4CDWKK18GGCHC92GJ4C6CFI94P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.47748, 0.27661, 1.16816 ], "start_rotation": [ 0, 0.05191, 0, 0.99865 ], "object_category": "plant", "info": { "geodesic_distance": 3.4949, "euclidean_distance": 3.28606, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79797, 0.18682, 4.01487 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3U088ZLJVMW2TO7OMJP6LLU4T540W9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.36104, -3.21318, 6.50093 ], "start_rotation": [ 0, 0.95568, 0, 0.29439 ], "object_category": "sofa", "info": { "geodesic_distance": 4.66307, "euclidean_distance": 4.34795, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81284, -3.21318, 3.56466 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A9K0CV70JWG1W:31LVTDXBL9DAIOFOCI1JW6EB4JJRLF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.36513, 0.18682, 7.44375 ], "start_rotation": [ 0, 0.98451, 0, 0.1753 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.43525, "euclidean_distance": 3.29092, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.23778, 0.18682, 4.28148 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef" ], "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A2TUUIV61CR0C7:3X0H8UUIT3R2UXR0VL8QVR0NOTMSWF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.72236, 0.18682, 6.5431 ], "start_rotation": [ 0, 0.68304, 0, -0.73038 ], "object_category": "chair", "info": { "geodesic_distance": 3.42629, "euclidean_distance": 2.67011, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12332, 0.18682, 5.74872 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A5A14MTB35J23:388U7OUMF94XLSQ2NPF0YMMN1MLR0L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.33436, -3.21318, 9.39212 ], "start_rotation": [ 0, 0.51049, 0, 0.85988 ], "object_category": "picture", "info": { "geodesic_distance": 5.57455, "euclidean_distance": 4.88462, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.22109, -3.21318, 5.07437 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A3T5UAYFKJBVTA:31EUONYN2X6AHGZ2YUMLPK7736DOV3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.61716, 0.18682, 0.20936 ], "start_rotation": [ 0, 0.98143, 0, -0.1918 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.83921, "euclidean_distance": 3.29903, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.03473, 0.17336, 3.09677 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A16K7X677N4WN6:3WQQ9FUS6CXSNAEGMW6PRMN12XO8B4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.73681, 0.18682, 1.93807 ], "start_rotation": [ 0, 0.82104, 0, -0.57087 ], "object_category": "toilet", "info": { "geodesic_distance": 1.10651, "euclidean_distance": 1.01419, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.07383, 0.18682, 2.94154 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3KC26Z78FBOJT:33FOTY3KEOOTMFM11BT5NW6APOG1CN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.96524, 0.16322, 1.90621 ], "start_rotation": [ 0, 0.20851, 0, -0.97802 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.3894, "euclidean_distance": 3.84726, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.95673, 0.18682, 4.31246 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A3K1P4SPR8XS7R:31UV0MXWNSFJN09KU8R31PHNV1LI57", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.1703, 0.18682, 8.98886 ], "start_rotation": [ 0, 0.92019, 0, 0.39147 ], "object_category": "counter", "info": { "geodesic_distance": 4.56266, "euclidean_distance": 4.17019, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.56322, 0.18682, 5.6766 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AIIOT9A7ARQZW:3SNLUL3WO6Q2YG75GCWO1H1V8J1ULZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.67075, 0.18682, 6.95155 ], "start_rotation": [ 0, 0.18739, 0, -0.98229 ], "object_category": "chair", "info": { "geodesic_distance": 5.26296, "euclidean_distance": 4.65025, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.05249, 0.18682, 5.73278 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7" ], "refined_path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0" ], "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7" ] }, { "episode_id": "A3HL2LL0LEPZT8:3QUO65DNQWRA41A2T4CGTY5PQFHUOW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20961, -3.21318, 8.81172 ], "start_rotation": [ 0, 0.0715, 0, -0.99744 ], "object_category": "shower", "info": { "geodesic_distance": 15.90345, "euclidean_distance": 6.65794, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71306, 0.18682, 5.45998 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3KC26Z78FBOJT:3XCC1ODXDNEL9LV14N9FDSD4X95QRN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.7924, 0.21832, 1.86557 ], "start_rotation": [ 0, 0.95612, 0, -0.29296 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.97356, "euclidean_distance": 2.18332, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93321, 0.18682, 3.96849 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:339ANSOTR75M5JUN1VV93E04B6EIK1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.30487, 0.18682, 4.35033 ], "start_rotation": [ 0, 0.93341, 0, 0.35881 ], "object_category": "chair", "info": { "geodesic_distance": 3.64218, "euclidean_distance": 3.24662, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.31864, 0.1408, 2.96596 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:39LOEL67OU8NKFA373RJ93POXTE384", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.67386, 0.05048, 0.50698 ], "start_rotation": [ 0, 0.54241, 0, -0.84012 ], "object_category": "bed", "info": { "geodesic_distance": 4.63033, "euclidean_distance": 3.66383, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.84951, 0.18682, 4.08105 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A3KC26Z78FBOJT:3WR9XG3T65E42XOOXC4W58LZYLM74A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13204, -3.21318, 7.58926 ], "start_rotation": [ 0, 0.30912, 0, 0.95102 ], "object_category": "bed", "info": { "geodesic_distance": 17.31133, "euclidean_distance": 3.50067, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.41587, 0.18682, 6.82332 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", [ "b2157583eedf426383de6e6e9753a4da" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A34T4R7G25LDJM:3U088ZLJVMW2TO7OMJP6LLU3A6G0W2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.44639, 0.04373, -0.23544 ], "start_rotation": [ 0, 0.53285, 0, 0.84621 ], "object_category": "shower", "info": { "geodesic_distance": 7.27253, "euclidean_distance": 6.00601, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90402, 0.18682, 5.3201 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3T5UAYFKJBVTA:3KGTPGBS6ZOWXULX66EJML2M2Q92UV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.94628, -3.21318, 6.90742 ], "start_rotation": [ 0, 0.93978, 0, 0.34177 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.24985, "euclidean_distance": 7.78125, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.08218, 0.18682, 7.27192 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:388U7OUMF94XLSQ2NPF0YMMNLCJ0RS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.38547, 0.18682, 0.16874 ], "start_rotation": [ 0, 0.73124, 0, -0.68212 ], "object_category": "counter", "info": { "geodesic_distance": 5.87356, "euclidean_distance": 5.46201, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.91537, 0.18682, 5.06455 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AKYXQY5IP7S0Z:3BEFOD78W8WNN0VB1I6LOQIQCE5M4H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.93648, -3.21318, 6.94946 ], "start_rotation": [ 0, 0.97004, 0, 0.24295 ], "object_category": "cushion", "info": { "geodesic_distance": 4.46979, "euclidean_distance": 3.72333, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.95056, -3.21318, 3.36475 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:3ZAZR5XV03LQHB799M2XFQQNGX5CZ3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.55461, 0.17258, 3.25138 ], "start_rotation": [ 0, 0.28163, 0, -0.95952 ], "object_category": "plant", "info": { "geodesic_distance": 4.52868, "euclidean_distance": 3.72532, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.23788, 0.18682, 6.75096 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868" ], "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TVSS0C0E3339X4FKLDG5WW89Z9TW5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.19906, 0.18682, 6.79842 ], "start_rotation": [ 0, 0.90521, 0, 0.42496 ], "object_category": "cushion", "info": { "geodesic_distance": 7.30271, "euclidean_distance": 2.89424, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.85038, 0.18682, 4.24824 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A2GQH4SWIOFH2L:3AMYWKA6YDPP2QK1XMEDDSR935Y6O9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.00429, 0.18682, 5.35673 ], "start_rotation": [ 0, 0.4877, 0, -0.87301 ], "object_category": "bed", "info": { "geodesic_distance": 2.61021, "euclidean_distance": 1.201, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.94791, 0.18682, 4.09588 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A21ZK49H9LSSRY:3LOZAJ85YFGOEYFSBBP66S1QZ4EX21", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.7801, -3.21318, 10.04314 ], "start_rotation": [ 0, 0.3246, 0, -0.94585 ], "object_category": "plant", "info": { "geodesic_distance": 7.97245, "euclidean_distance": 7.29495, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.04185, -3.21318, 3.31848 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0" ], "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QHK8ZVMIOLN2HYZGLFTWR97J9BBL2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.74556, 0.18682, 2.9607 ], "start_rotation": [ 0, 0.96235, 0, 0.2718 ], "object_category": "sofa", "info": { "geodesic_distance": 24.15292, "euclidean_distance": 3.5662, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82461, -3.21318, 3.66625 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2F1AA15HG0FRU:3PW9OPU9PSNGOXUZ4I4ZBJXPUPA12O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.32772, -1.17128, 10.1438 ], "start_rotation": [ 0, 0.933, 0, -0.35987 ], "object_category": "seating", "info": { "geodesic_distance": 8.83217, "euclidean_distance": 7.29362, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.21181, 0.18682, 6.68266 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "fe2d6243c11d4edb877748f6b6988957", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_46_newN_0", "902b0496eeb94742995708a15c69bb26", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55" ], "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A21ZK49H9LSSRY:3TPZPLC3M2F8Q79KTKTUVPKF0GQ3P6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.3624, -3.21318, 2.58326 ], "start_rotation": [ 0, 0.91951, 0, 0.39306 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 20.20696, "euclidean_distance": 5.96233, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.8003, 0.18682, 7.07048 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3T5UAYFKJBVTA:3NXNZ5RS1C05Z3U0E70NMGWG0DZ97P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.79298, -3.21318, 10.52661 ], "start_rotation": [ 0, 0.05354, 0, -0.99857 ], "object_category": "picture", "info": { "geodesic_distance": 6.75958, "euclidean_distance": 6.10644, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.23012, -3.21318, 4.97767 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:31LM9EDVONVJ80ZWGQ8P77W9W4JNJQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.79123, 0.18682, 4.27919 ], "start_rotation": [ 0, 0.99684, 0, 0.07946 ], "object_category": "counter", "info": { "geodesic_distance": 1.31564, "euclidean_distance": 1.15722, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.80205, 0.18682, 5.02213 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", [ "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A272X64FOZFYLB:3Z9WI9EOZ1RM9OJ3VDDO32ZQPAHKH6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.61371, 0.18682, 7.3807 ], "start_rotation": [ 0, 0.23336, 0, 0.97239 ], "object_category": "towel", "info": { "geodesic_distance": 7.9334, "euclidean_distance": 7.50638, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.60585, 0.18682, 5.22074 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A21ZK49H9LSSRY:3DR23U6WE7H9SXIOZLJAJQP9GD4ETQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.44872, 0.13554, -0.57945 ], "start_rotation": [ 0, 0.33271, 0, -0.94303 ], "object_category": "cushion", "info": { "geodesic_distance": 6.94828, "euclidean_distance": 5.81508, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.75921, 0.18682, 4.32108 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ] }, { "episode_id": "A2R2YZTSME1K3F:38F71OA9GVZXLGS0LZ24FUFHYDBMFH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.22442, 0.18682, 9.58349 ], "start_rotation": [ 0, 0.14807, 0, -0.98898 ], "object_category": "sofa", "info": { "geodesic_distance": 21.91011, "euclidean_distance": 6.95718, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81423, -3.21318, 3.6388 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3EFVCAY5L5CY5TCSAOJ6PA6EA66J8H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.08871, -0.38164, 8.71834 ], "start_rotation": [ 0, 0.93437, 0, -0.3563 ], "object_category": "seating", "info": { "geodesic_distance": 7.18518, "euclidean_distance": 6.38584, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.0669, 0.18682, 6.70646 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:3OSWBBLG1G0BH8D8809N2BSTF5VDXJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.6598, 0.06306, 0.60748 ], "start_rotation": [ 0, 0.3007, 0, 0.95372 ], "object_category": "toilet", "info": { "geodesic_distance": 5.77733, "euclidean_distance": 4.95745, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.26242, 0.18682, 5.37336 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3C44YUNSI3S68ZBHM9Z68Y6QBY0DPR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.51402, 0.18682, 9.39032 ], "start_rotation": [ 0, 0.89704, 0, 0.44195 ], "object_category": "counter", "info": { "geodesic_distance": 4.95515, "euclidean_distance": 4.33541, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.62266, 0.18682, 5.69094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3GWRDHAURRNK6:34YB12FSQ0R3ZGOVWJ8MXFFSJFHMGE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.90999, 0.18682, 6.88754 ], "start_rotation": [ 0, 0.59284, 0, 0.80532 ], "object_category": "chair", "info": { "geodesic_distance": 6.50314, "euclidean_distance": 5.83598, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.1676, 0.18682, 5.69467 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3H0J7KPSIRZ7H:3TVRFO09GMIUFK10LH7BLO0Z270LXC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.01699, 0.18682, 6.73724 ], "start_rotation": [ 0, 0.93137, 0, -0.36406 ], "object_category": "counter", "info": { "geodesic_distance": 3.52004, "euclidean_distance": 2.81614, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.64209, 0.18682, 5.54084 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ], "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3AUQQEL7U7WPEZ7JW9KAZJBQMWTV0L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.91587, 0.18682, 4.00318 ], "start_rotation": [ 0, 0.87326, 0, -0.48725 ], "object_category": "table", "info": { "geodesic_distance": 1.20157, "euclidean_distance": 1.19697, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.15593, 0.16801, 3.11999 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3L2IS5HSFCLSMGAQSPC3E95JZPWNUV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.57706, -3.21318, 10.2026 ], "start_rotation": [ 0, 0.9955, 0, 0.09472 ], "object_category": "toilet", "info": { "geodesic_distance": 7.33904, "euclidean_distance": 6.20084, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.47671, 0.18682, 6.9038 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2ZZW6KME1FUDU:3X4MXAO0BIRQTIRNGW8L5HVR2RAWR2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.37984, 0.03874, 2.19794 ], "start_rotation": [ 0, 0.20213, 0, -0.97936 ], "object_category": "chair", "info": { "geodesic_distance": 4.06802, "euclidean_distance": 2.15947, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.27353, 0.14758, 3.00159 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1NSHNH3MNFRGW:3HWRJOOET758DX59ALEK9LTMXE3SED", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.61778, -3.21318, 6.19474 ], "start_rotation": [ 0, 0.66283, 0, 0.74877 ], "object_category": "toilet", "info": { "geodesic_distance": 7.66685, "euclidean_distance": 6.82961, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16881, -3.21318, -0.05775 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957" ] }, { "episode_id": "AREQ43Q0T8ENT:33F859I568GLGLF9P00V4ZGZOSFHBY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.76415, 0.18682, 7.15227 ], "start_rotation": [ 0, 0.80047, 0, -0.59937 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.77166, "euclidean_distance": 2.84967, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.08669, 0.18682, 4.3991 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A1P3HHEXWNLJMP:3MTMREQS4XLYU156ELMZAR6HMFBWAN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.5408, -3.21318, 1.69234 ], "start_rotation": [ 0, 0.41056, 0, 0.91184 ], "object_category": "shower", "info": { "geodesic_distance": 22.19646, "euclidean_distance": 7.39342, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.86531, 0.18682, 5.4521 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A28U7B76HLCS1U:33C7UALJVN1RACWOKZD0LAASGQT81R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.62589, -3.21318, 9.50439 ], "start_rotation": [ 0, 0.85394, 0, -0.52038 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.24019, "euclidean_distance": 5.30802, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.13026, 0.18682, 7.25334 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3NFGEUZAH9V5G:3LRKMWOKB7KDJTF7CTDR3DH13Q32ZY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.0254, 0.19805, 2.06716 ], "start_rotation": [ 0, 0.88914, 0, -0.45764 ], "object_category": "toilet", "info": { "geodesic_distance": 2.07516, "euclidean_distance": 1.30373, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.87214, 0.18682, 2.86503 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3L8LSM7V7KX3T:3ZR9AIQJUDCQKMO4CDJNQTBCSQU40P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.23758, -0.24314, 8.59615 ], "start_rotation": [ 0, 0.96465, 0, -0.26354 ], "object_category": "chair", "info": { "geodesic_distance": 6.33032, "euclidean_distance": 5.60014, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.69413, -3.21318, 10.10719 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3T5UAYFKJBVTA:3Y54SXRO1NOQHTFAPLYFN8BC5ZZUTN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.78324, 0.18682, 7.42876 ], "start_rotation": [ 0, 0.15767, 0, -0.98749 ], "object_category": "shower", "info": { "geodesic_distance": 4.1263, "euclidean_distance": 2.24466, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.69701, 0.18682, 5.53033 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3KRVW3HTZPO6PLXMRJ23MTYV72TSMA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.02724, 0.18682, 6.90948 ], "start_rotation": [ 0, 0.76343, 0, -0.64589 ], "object_category": "table", "info": { "geodesic_distance": 4.87107, "euclidean_distance": 4.27697, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.13674, 0.17813, 3.20212 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:374TNBHA8DYU6M7NII19LO62EC3QYK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.87424, -3.21318, 10.42237 ], "start_rotation": [ 0, 0.99218, 0, 0.12481 ], "object_category": "picture", "info": { "geodesic_distance": 6.34794, "euclidean_distance": 5.68113, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14007, -3.21318, 5.12942 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3IRIK4HM3CNOT1NY7H5MISXSAD2C69", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.67211, 0.18682, 6.75708 ], "start_rotation": [ 0, 0.75337, 0, -0.6576 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.70757, "euclidean_distance": 2.47179, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.13218, 0.18682, 4.39876 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] ] }, { "episode_id": "A1R0689JPSQ3OF:30OG32W0SWEBXKD42PXYARJGDESENL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.30304, -2.88598, 10.07801 ], "start_rotation": [ 0, 0.72161, 0, -0.6923 ], "object_category": "seating", "info": { "geodesic_distance": 11.76973, "euclidean_distance": 5.62871, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15905, 0.18682, 6.74026 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:3XM0HYN6NM2B05PHI4AQEGOBBATEPD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.09904, 0.18682, 8.96371 ], "start_rotation": [ 0, 0.12912, 0, 0.99163 ], "object_category": "counter", "info": { "geodesic_distance": 4.55168, "euclidean_distance": 4.19062, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.55177, 0.18682, 5.48769 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3MD9PLUKKKH98F40YCBBV1KYZ87ZNS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.5335, -3.21318, 10.11228 ], "start_rotation": [ 0, 0.97786, 0, -0.20925 ], "object_category": "table", "info": { "geodesic_distance": 3.76634, "euclidean_distance": 3.51957, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.70266, -3.21318, 7.32458 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A1ZE52NWZPN85P:3ITXP059PYMGODR1OMPB616E38TSJ1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.84943, 0.18682, 8.6964 ], "start_rotation": [ 0, 0.90906, 0, 0.41666 ], "object_category": "table", "info": { "geodesic_distance": 6.83523, "euclidean_distance": 5.69095, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.16361, 0.18239, 3.25766 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A34YDGVZKRJ0LZ:39U1BHVTDNU6IZ2RA12E0ZLB9E83TG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.24793, 0.18682, 0.01171 ], "start_rotation": [ 0, 0.21588, 0, -0.97642 ], "object_category": "sink", "info": { "geodesic_distance": 6.0522, "euclidean_distance": 5.58613, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.01735, 0.18682, 5.1591 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3L70J4KAZIPZLV5FXQH9I3HWVACAD1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.73696, 0.18682, 8.71376 ], "start_rotation": [ 0, 0.69332, 0, -0.72063 ], "object_category": "cushion", "info": { "geodesic_distance": 4.14985, "euclidean_distance": 3.96249, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.87716, 0.18682, 7.09731 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AIIOT9A7ARQZW:3U4J9857OGEONW9XCREJDMR6RH47BA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.86347, -3.21318, 10.57078 ], "start_rotation": [ 0, 0.87919, 0, 0.47647 ], "object_category": "seating", "info": { "geodesic_distance": 13.2557, "euclidean_distance": 5.49756, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.17819, 0.18682, 6.77383 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "fe2d6243c11d4edb877748f6b6988957", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1ZE52NWZPN85P:3X3OR7WPZ1340J0SD9VJ5PJ5XFR8L9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.38814, 0.18682, 7.26483 ], "start_rotation": [ 0, 0.24811, 0, 0.96873 ], "object_category": "cushion", "info": { "geodesic_distance": 4.72801, "euclidean_distance": 3.30138, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.72264, 0.18682, 4.22604 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AD1ILDUXZHASF:3X0H8UUIT3R2UXR0VL8QVR0NOWNSWM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.71783, 0.18682, 0.26047 ], "start_rotation": [ 0, 0.66451, 0, -0.74728 ], "object_category": "counter", "info": { "geodesic_distance": 5.88053, "euclidean_distance": 5.23368, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.86982, 0.18682, 4.90707 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A31BA1WLSWUSY1:3LBXNTKX0TYZEI0RWK4LGF94PYD9XQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.70007, -1.21318, 10.39998 ], "start_rotation": [ 0, 0.98217, 0, -0.18801 ], "object_category": "table", "info": { "geodesic_distance": 8.3012, "euclidean_distance": 7.33255, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.64103, -3.21318, 7.36533 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2ZZW6KME1FUDU:39RP059MEJW78ZGKGXG8W4OWJ33BMK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.52212, -3.21318, 6.04023 ], "start_rotation": [ 0, 0.5498, 0, 0.8353 ], "object_category": "bed", "info": { "geodesic_distance": 16.99942, "euclidean_distance": 3.92636, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.32188, 0.18682, 6.74607 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_60_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A1NLDZ3T0S2CX:3EFE17QCRE8KX7WB0MMQUOQ0991SHF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.08569, 0.25, 1.57589 ], "start_rotation": [ 0, 0.81021, 0, 0.58614 ], "object_category": "table", "info": { "geodesic_distance": 11.88825, "euclidean_distance": 5.34438, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.20563, 0.17155, 3.18262 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "81309402fcf041df881e7aca01b8b4f2", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3A7Y0R2P2QROKUD0IWVY59N71F3JXD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.60565, -3.21318, 5.04869 ], "start_rotation": [ 0, 0.6016, 0, 0.7988 ], "object_category": "plant", "info": { "geodesic_distance": 2.33035, "euclidean_distance": 1.76142, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.04255, -3.21318, 3.37215 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3D46S3V9SYXTT:34MAJL3QP6QM1EN1V016SR9JTPI43W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.44606, -3.21318, 1.40685 ], "start_rotation": [ 0, 0.40712, 0, 0.91338 ], "object_category": "counter", "info": { "geodesic_distance": 2.7683, "euclidean_distance": 2.17372, "closest_goal_object_id": 210, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.2061, -3.21318, 0.0639 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:30ZX6P7VFAYNJEA3U7A5FJTB8TV2J8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.40831, 0.18682, 2.07231 ], "start_rotation": [ 0, 0.90209, 0, -0.43155 ], "object_category": "table", "info": { "geodesic_distance": 10.54881, "euclidean_distance": 3.59467, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.15526, 0.17806, 3.21257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42" ] }, { "episode_id": "A2TUUIV61CR0C7:3J88R45B2I1K65GYD90I259JAD0XPG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.15402, 0.18682, 0.81545 ], "start_rotation": [ 0, 0.52116, 0, -0.85346 ], "object_category": "plant", "info": { "geodesic_distance": 7.85841, "euclidean_distance": 6.04498, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.25816, 0.18682, 6.73017 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A2TUUIV61CR0C7:39N5ACM9HGQU59Y0ATU4M2N0KYS9PJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.36654, 0.18682, 2.26201 ], "start_rotation": [ 0, 0.56414, 0, 0.82568 ], "object_category": "toilet", "info": { "geodesic_distance": 5.30255, "euclidean_distance": 4.8986, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07076, 0.18682, 5.3562 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A35CL66BEUSJ5Z:3A9AA95ATYPB4MWO73HNAMIZHBKP5M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.49596, -3.21318, 10.02246 ], "start_rotation": [ 0, 0.34592, 0, 0.93826 ], "object_category": "picture", "info": { "geodesic_distance": 5.85445, "euclidean_distance": 5.19461, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.10783, -3.21318, 5.04951 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2MCG5W6LHSRG9:3PM8NZGV80J56HHDDMF72AZTFB3XQS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.47822, 0.18682, 0.03311 ], "start_rotation": [ 0, 0.85406, 0, -0.52017 ], "object_category": "sofa", "info": { "geodesic_distance": 27.15849, "euclidean_distance": 5.18844, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72835, -3.21318, 3.68254 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A1NSHNH3MNFRGW:3KJYX6QCMBEWG585IHUGHOQL4CWJV8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.39485, 0.18682, 9.10679 ], "start_rotation": [ 0, 0.61605, 0, -0.7877 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.26598, "euclidean_distance": 2.77838, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.05567, 0.18682, 7.05085 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AZPZDX26SYMFY:3VJ40NV2QKQV4OVDTZM6O2JNJZEOTB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.40199, -3.21318, 2.46258 ], "start_rotation": [ 0, 0.64924, 0, -0.76058 ], "object_category": "towel", "info": { "geodesic_distance": 3.98521, "euclidean_distance": 3.05365, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.41915, -3.21318, 0.06651 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f" ], "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3PMBY0YE296BBKPW5O8Y22OU4RW9CX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.34469, 0.18682, 8.90486 ], "start_rotation": [ 0, 0.45273, 0, 0.89165 ], "object_category": "plant", "info": { "geodesic_distance": 2.32848, "euclidean_distance": 2.03635, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.46864, 0.18682, 7.06743 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ] ] }, { "episode_id": "A1ZE52NWZPN85P:3YMU66OBIPBH72NK5MS95A7W2YLHGD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.46507, 0.18682, 0.88081 ], "start_rotation": [ 0, 0.12045, 0, 0.99272 ], "object_category": "cushion", "info": { "geodesic_distance": 6.29084, "euclidean_distance": 5.43739, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.76526, 0.18682, 4.12829 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A1NKBXOTZAI1YK:3D4CH1LGECWOSW517A4HST99Y619GQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.23004, 0.18682, 9.10894 ], "start_rotation": [ 0, 0.63945, 0, -0.76884 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.27506, "euclidean_distance": 2.88108, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.14159, 0.18682, 6.82949 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3ND9UOO81M5FQKWABCBPJ5MST5UWLU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.96468, 0.18682, 8.75082 ], "start_rotation": [ 0, 0.95417, 0, 0.29928 ], "object_category": "shower", "info": { "geodesic_distance": 6.56393, "euclidean_distance": 5.09271, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.78424, 0.18682, 5.38691 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A272X64FOZFYLB:3PPTZCWALSNUBCHSE43SZVF36LXZQO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.24642, -2.92762, 10.08175 ], "start_rotation": [ 0, 0.43681, 0, -0.89955 ], "object_category": "picture", "info": { "geodesic_distance": 6.46546, "euclidean_distance": 4.99027, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.74198, 0.18682, 7.05437 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee" ], "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WAKVUDHUYJ3JVI3CIVEICJTZCA7UR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.69627, 0.20036, 0.86128 ], "start_rotation": [ 0, 0.10383, 0, 0.9946 ], "object_category": "toilet", "info": { "geodesic_distance": 2.1837, "euclidean_distance": 2.07476, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.98403, 0.18682, 2.9673 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3T5UAYFKJBVTA:38F5OAUN5PFYE9CJCJOFZXU4J2D7H7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.04786, 0.18682, 6.8638 ], "start_rotation": [ 0, 0.60023, 0, 0.79983 ], "object_category": "sofa", "info": { "geodesic_distance": 19.30232, "euclidean_distance": 5.0859, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82099, -3.21318, 3.67969 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "91c5afdf381d439380d3ca8d6eb27b03", "3560fdb7b97c462ab565c8946b77ecef", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A31BA1WLSWUSY1:3QECW5O0KJ49WEPVOKQ7FWJVP25T5O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.12865, -1.53739, 10.05143 ], "start_rotation": [ 0, 0.69097, 0, -0.72288 ], "object_category": "cushion", "info": { "geodesic_distance": 10.70255, "euclidean_distance": 6.03966, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.79743, 0.18682, 4.20912 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3H7Z272LX9AP6BZ9ZQXURBEW313LPP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.66443, 0.18682, -0.20355 ], "start_rotation": [ 0, 0.9293, 0, 0.36933 ], "object_category": "toilet", "info": { "geodesic_distance": 7.68163, "euclidean_distance": 6.55472, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.27457, 0.18682, 5.35751 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3T5UAYFKJBVTA:3TPZPLC3M2F8Q79KTKTUVPKF3KO3PF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.226, -2.91693, 10.56982 ], "start_rotation": [ 0, 0.95682, 0, 0.29069 ], "object_category": "sofa", "info": { "geodesic_distance": 8.70709, "euclidean_distance": 8.08647, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83134, -3.21318, 3.76112 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PWWM24LHU1YZXEK33DEQTKX8WK82L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.2351, 0.18682, 7.10412 ], "start_rotation": [ 0, 0.52636, 0, 0.85026 ], "object_category": "table", "info": { "geodesic_distance": 8.16497, "euclidean_distance": 5.82875, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07363, 0.16402, 3.03374 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3LQ8PUHQFNVV3TTFVASCQMKCHCCIH7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.19978, 0.18682, 6.73623 ], "start_rotation": [ 0, 0.71813, 0, -0.6959 ], "object_category": "counter", "info": { "geodesic_distance": 2.346, "euclidean_distance": 1.78493, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.65368, 0.18682, 5.65744 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2TUUIV61CR0C7:3YMU66OBIPBH72NK5MS95A7W25FGHK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.34943, 0.26783, 0.99775 ], "start_rotation": [ 0, 0.64908, 0, -0.76072 ], "object_category": "table", "info": { "geodesic_distance": 11.79971, "euclidean_distance": 4.86906, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.02912, 0.17272, 3.04514 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A5A14MTB35J23:3HVVDCPGTGV7Y2ZFZMV4QTHP1MHTYP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.72442, -0.01318, -0.22592 ], "start_rotation": [ 0, 0.84724, 0, 0.53122 ], "object_category": "bed", "info": { "geodesic_distance": 5.36646, "euclidean_distance": 4.35374, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.78226, 0.18682, 4.04545 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A19C2SO0IMRZ1L:34YB12FSQ0R3ZGOVWJ8MXFFT2FLGMX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.93733, 0.18682, 8.87843 ], "start_rotation": [ 0, 0.3301, 0, 0.94395 ], "object_category": "picture", "info": { "geodesic_distance": 3.58696, "euclidean_distance": 3.10453, "closest_goal_object_id": 21, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.09346, 0.18682, 6.3913 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A19C2SO0IMRZ1L:3ZV9H2YQQFAYAG6L567PNJSBWCU3W3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.34205, 0.18682, 8.91042 ], "start_rotation": [ 0, 0.96562, 0, 0.25997 ], "object_category": "towel", "info": { "geodesic_distance": 6.28508, "euclidean_distance": 5.61919, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.43109, 0.18682, 5.28408 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2TUUIV61CR0C7:32SCWG5HIJ77NQW2CMRS2SWZA8JP6R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.63923, -3.21318, 7.04911 ], "start_rotation": [ 0, 0.50395, 0, -0.86373 ], "object_category": "bed", "info": { "geodesic_distance": 15.70197, "euclidean_distance": 4.50272, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.35477, 0.18682, 6.87928 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3RR85PK3AV9TU:3TESA3PJ33D3RQKH7M6HAKZQV9GMM7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.26871, 0.15672, 0.41035 ], "start_rotation": [ 0, 0.62996, 0, -0.77663 ], "object_category": "seating", "info": { "geodesic_distance": 8.56979, "euclidean_distance": 6.60039, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.0643, 0.18682, 6.65587 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:3MHW492WW2GMHDEQLE78XGI3PUKMV3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.91798, -3.21318, 6.97853 ], "start_rotation": [ 0, 0.6268, 0, 0.77918 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.87716, "euclidean_distance": 2.7237, "closest_goal_object_id": 269, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.23416, -3.21318, 6.48405 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "AK35CJJEYFVYK:3IRIK4HM3CNOT1NY7H5MISXRX5OC60", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.33505, -3.21318, 6.38292 ], "start_rotation": [ 0, 0.65759, 0, -0.75337 ], "object_category": "sink", "info": { "geodesic_distance": 1.0469, "euclidean_distance": 0.95528, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.1824, -3.21318, 6.86432 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AIOOOO5OXWXKM:3Y4W8Q93L1NJDJ8D8L85EQV8Z0YDV3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.30083, -3.21318, 5.82638 ], "start_rotation": [ 0, 0.32546, 0, -0.94556 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 16.97869, "euclidean_distance": 4.15435, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.72304, 0.18682, 7.02479 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3GA6AFUKOQRGDQBWA7LPMGIOEPPH3O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.47438, -3.21318, -0.25169 ], "start_rotation": [ 0, 0.62395, 0, -0.78146 ], "object_category": "bed", "info": { "geodesic_distance": 25.14426, "euclidean_distance": 8.16521, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.38371, 0.18682, 4.35524 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A101U3FTZYY87V:3VHP9MDGRPNKCUG98A8QCYA57PPCFQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.25266, -3.21318, 3.20518 ], "start_rotation": [ 0, 0.58424, 0, -0.81158 ], "object_category": "bed", "info": { "geodesic_distance": 21.55588, "euclidean_distance": 6.61509, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.31042, 0.18682, 4.31784 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3BRY2LVVQGP3H:3DUZQ9U6SORPF8RV5B3U9PH802ISVK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.97392, 0.18682, 9.72094 ], "start_rotation": [ 0, 0.60191, 0, 0.79856 ], "object_category": "sink", "info": { "geodesic_distance": 5.60831, "euclidean_distance": 4.64505, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.92016, 0.18682, 5.67344 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3T5UAYFKJBVTA:3NPFYT4IZE7ETSNZAQAV8WVR6V8XGM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.46271, 0.26773, 2.49546 ], "start_rotation": [ 0, 0.66358, 0, -0.7481 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.26519, "euclidean_distance": 2.86893, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.96658, 0.18682, 5.3871 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A272X64FOZFYLB:3WLEIWSYHQKRS8FD677K36DWV2XH2Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.6225, 0.19708, 2.06083 ], "start_rotation": [ 0, 0.01756, 0, 0.99985 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.69525, "euclidean_distance": 9.3617, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.38143, 0.18682, 6.99257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3L8LSM7V7KX3T:3SB5N7Y3O576W2HO7ELOZI8FGOZG04", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.55853, 0.18682, 3.6676 ], "start_rotation": [ 0, 0.32586, 0, -0.94542 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.58882, "euclidean_distance": 2.98201, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.04466, 0.18682, 5.35627 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:3A0EX8ZRNAR72G5YZ04JQZB3VHPYBG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.12186, -3.21318, 6.11611 ], "start_rotation": [ 0, 0.3194, 0, 0.94762 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.23523, "euclidean_distance": 6.92654, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.15011, 0.18682, 7.23226 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", [ "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "ARQR5NIFA1AJ:3STRJBFXOYUCEXAYV7UDHL2E35STKA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.84928, 0.06643, 1.94351 ], "start_rotation": [ 0, 0.35861, 0, 0.93349 ], "object_category": "chair", "info": { "geodesic_distance": 4.50145, "euclidean_distance": 2.68844, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.30647, 0.16199, 3.14182 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3BRY2LVVQGP3H:3I02618YA29SP1M384PVIYAFDTAPU0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.37098, -3.21318, 7.93661 ], "start_rotation": [ 0, 0.09545, 0, 0.99543 ], "object_category": "chair", "info": { "geodesic_distance": 1.67125, "euclidean_distance": 1.52807, "closest_goal_object_id": 294, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.95484, -3.21318, 6.44444 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3QECW5O0KJ49WEPVOKQ7FWJW6EM5TO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.38145, 0.18682, 0.13319 ], "start_rotation": [ 0, 0.38618, 0, 0.92242 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.69255, "euclidean_distance": 3.18967, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.40429, 0.1461, 3.02449 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A13WYZ8AXD6ODX:3NLZY2D53RSA6N0OZ3CJRG468YHLQA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.3652, 0.18682, 2.38647 ], "start_rotation": [ 0, 0.73482, 0, -0.67827 ], "object_category": "toilet", "info": { "geodesic_distance": 5.24504, "euclidean_distance": 4.82295, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.15131, 0.18682, 5.36669 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2L26DMSVUEDP6:3DHE4R9OCYEDSCK2M1P2I61UFPX2GW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.42828, -0.22422, 8.65753 ], "start_rotation": [ 0, 0.97907, 0, 0.20352 ], "object_category": "towel", "info": { "geodesic_distance": 7.12704, "euclidean_distance": 3.93497, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.54779, 0.18682, 5.23257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3T5UAYFKJBVTA:3BXQMRHWK11M4YPQGOX31UGKBSJUM4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.01525, 0.03864, -0.76355 ], "start_rotation": [ 0, 0.9993, 0, -0.03728 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.0716, "euclidean_distance": 6.78515, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.91521, 0.18682, 5.39575 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:3ERMJ6L4D0VK6NDU3G4SR22ZM0YM7P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.37809, -2.07905, 10.51962 ], "start_rotation": [ 0, 0.49734, 0, 0.86756 ], "object_category": "cushion", "info": { "geodesic_distance": 11.0093, "euclidean_distance": 9.61134, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.91919, -3.21318, 3.34412 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3OJSZ2ATDUZMYGSOBHN6A0REHIU75F", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.21561, 0.18682, 6.86376 ], "start_rotation": [ 0, 0.03327, 0, -0.99945 ], "object_category": "chair", "info": { "geodesic_distance": 5.80976, "euclidean_distance": 5.15396, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15856, 0.18682, 5.59165 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "APGX2WZ59OWDN:3VAR3R6G1R4C643PQ1BBX6NZSAQ8O0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.18887, -3.21318, 9.52146 ], "start_rotation": [ 0, 0.87266, 0, 0.48833 ], "object_category": "toilet", "info": { "geodesic_distance": 7.91778, "euclidean_distance": 6.12941, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.52168, 0.18682, 6.87734 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:36ZN444YTT15VAF2ZNN2AVHEWJFOI1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.51927, 0.18682, 3.80922 ], "start_rotation": [ 0, 0.80975, 0, 0.58677 ], "object_category": "counter", "info": { "geodesic_distance": 6.4671, "euclidean_distance": 4.41984, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.57803, 0.18682, 5.66032 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2KOR4003SVNC5:384PI804XU49M7QF2EF5OWRJKUBS0Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.34408, 0.18682, 9.93619 ], "start_rotation": [ 0, 0.82717, 0, -0.56194 ], "object_category": "counter", "info": { "geodesic_distance": 5.49393, "euclidean_distance": 4.89855, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61796, 0.18682, 5.63506 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "A2AAY4VT9L71SY:373ERPL3YQBY11NTLR3AIXOSYX6TRN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.42231, -3.21318, 7.0407 ], "start_rotation": [ 0, 0.64641, 0, -0.76299 ], "object_category": "picture", "info": { "geodesic_distance": 3.31512, "euclidean_distance": 3.00677, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.18838, -3.21318, 5.14524 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2TUUIV61CR0C7:3DR23U6WE7H9SXIOZLJAJQP9GDUTEV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.07687, 0.18682, 7.33957 ], "start_rotation": [ 0, 0.94904, 0, -0.31515 ], "object_category": "plant", "info": { "geodesic_distance": 3.63264, "euclidean_distance": 2.97198, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.78531, 0.18682, 9.2351 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A5A14MTB35J23:3VNXK88KKEL7ATVWW533SUCJPWFV9H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.62454, 0.18682, 2.94841 ], "start_rotation": [ 0, 0.95181, 0, -0.3067 ], "object_category": "sink", "info": { "geodesic_distance": 3.81162, "euclidean_distance": 3.43073, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.06157, 0.18682, 5.17963 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2GQH4SWIOFH2L:3GA6AFUKOQRGDQBWA7LPMGIOHS8H3G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.90027, -2.42964, 10.31521 ], "start_rotation": [ 0, 0.45277, 0, -0.89163 ], "object_category": "seating", "info": { "geodesic_distance": 11.03725, "euclidean_distance": 5.91466, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15379, 0.18682, 6.75057 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "902b0496eeb94742995708a15c69bb26", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AKYXQY5IP7S0Z:3R6P78PK7ME7CBEF5G9YJTAKDS8GTE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.01888, -2.35665, 10.07618 ], "start_rotation": [ 0, 0.99673, 0, -0.08077 ], "object_category": "cushion", "info": { "geodesic_distance": 10.48336, "euclidean_distance": 9.01485, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.7715, -3.21318, 3.32589 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", [ "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2R0YYUAWNT7UD:326O153BMK12B8MRDVJVEM7NDSZDER", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.59481, 0.18682, 5.89795 ], "start_rotation": [ 0, 0.72779, 0, 0.6858 ], "object_category": "cushion", "info": { "geodesic_distance": 1.99922, "euclidean_distance": 1.6957, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.83153, 0.18682, 7.12153 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2O65E9TOSX7GV:3VNL7UK1XHM1YBIKUW3G18A9SGXFTR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.31991, -3.21318, 5.817 ], "start_rotation": [ 0, 0.56119, 0, 0.82769 ], "object_category": "shower", "info": { "geodesic_distance": 18.59995, "euclidean_distance": 6.1926, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.68463, 0.18682, 5.52332 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:3BDCF01OGZXJFPRAQDTD4277QPOYLX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.62292, -3.21318, 1.69364 ], "start_rotation": [ 0, 0.99999, 0, 0.00432 ], "object_category": "bed", "info": { "geodesic_distance": 22.72087, "euclidean_distance": 6.56954, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.26797, 0.18682, 4.28759 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3K1P4SPR8XS7R:3GNCZX450KQ8AS852Z84IXYL9Q6AP0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.96851, 0.18682, 6.83096 ], "start_rotation": [ 0, 0.05554, 0, -0.99846 ], "object_category": "chair", "info": { "geodesic_distance": 5.56428, "euclidean_distance": 4.90619, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15636, 0.18682, 5.69876 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3V8LIMUUJWUTL:3E1QT0TDFRC2AISMS6Y6D9RDG768IW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.74843, 0.18249, 0.01164 ], "start_rotation": [ 0, 0.50101, 0, -0.86544 ], "object_category": "sink", "info": { "geodesic_distance": 5.63388, "euclidean_distance": 5.43538, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.16903, 0.18682, 5.31679 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A1P3HHEXWNLJMP:36ZN444YTT15VAF2ZNN2AVHEWJSIO8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.46392, -3.21318, 6.36384 ], "start_rotation": [ 0, 0.31938, 0, 0.94763 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.85721, "euclidean_distance": 6.59751, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.1673, 0.18682, 7.29632 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:31UV0MXWNSFJN09KU8R31PHMEHLI5K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.81695, -2.49845, 10.19864 ], "start_rotation": [ 0, 0.17028, 0, 0.9854 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.38764, "euclidean_distance": 4.65441, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.92539, 0.18682, 6.97228 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A29CNQYJWMJ7G9:3ZQIG0FLQGJIMP84PGDV6EKUKN2WVN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.38273, 0.18682, 6.68339 ], "start_rotation": [ 0, 0.90544, 0, -0.42447 ], "object_category": "toilet", "info": { "geodesic_distance": 4.15585, "euclidean_distance": 3.95409, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93531, 0.18682, 3.00054 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3FSDH6HUZPNQ8:31JLPPHS2WXQ57XJEKGF6PFOCOY3O3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.27087, -3.21318, 3.34706 ], "start_rotation": [ 0, 0.98414, 0, -0.17741 ], "object_category": "toilet", "info": { "geodesic_distance": 4.72816, "euclidean_distance": 3.51883, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16488, -3.21318, -0.00684 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "AIOOOO5OXWXKM:3Q5ZZ9ZEVQIQYUX7LMFCO0N9PDO85A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.04455, 0.36158, 0.4347 ], "start_rotation": [ 0, 0.24673, 0, 0.96909 ], "object_category": "table", "info": { "geodesic_distance": 12.63784, "euclidean_distance": 5.74619, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.17086, 0.16576, 3.10819 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3H0J7KPSIRZ7H:39GXDJN2OVH7WOCMRDXPSYH82228VV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.27519, 0.02228, -0.56274 ], "start_rotation": [ 0, 0.54049, 0, -0.84135 ], "object_category": "sofa", "info": { "geodesic_distance": 24.82114, "euclidean_distance": 6.16292, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80692, -3.21318, 3.60686 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:37ZHEEHM6YPJK15KXYZDV3TUNC937R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.38064, 0.18682, 7.57737 ], "start_rotation": [ 0, 0.22337, 0, -0.97473 ], "object_category": "counter", "info": { "geodesic_distance": 3.21697, "euclidean_distance": 2.95692, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.62747, 0.18682, 5.57549 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "3560fdb7b97c462ab565c8946b77ecef", "path": [ "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A35NXCD0VE2I69:3HHRAGRYXA8CK9MZVTHPX2IACHYO9X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.75289, -3.21318, 7.99388 ], "start_rotation": [ 0, 0.96662, 0, -0.2562 ], "object_category": "picture", "info": { "geodesic_distance": 4.30832, "euclidean_distance": 3.92788, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15309, -3.21318, 4.99768 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3570Y55XZRM3TXD9FMWXRA208QEYGJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.252, -0.40329, 8.82297 ], "start_rotation": [ 0, 0.40302, 0, -0.91519 ], "object_category": "sink", "info": { "geodesic_distance": 5.71794, "euclidean_distance": 4.67974, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.89065, 0.18682, 5.61206 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AIIOT9A7ARQZW:3QEMNNSB2Z2H2T7HQN5P8CF6RY97DZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.57698, -1.9446, 10.06459 ], "start_rotation": [ 0, 0.29123, 0, -0.95665 ], "object_category": "picture", "info": { "geodesic_distance": 4.81116, "euclidean_distance": 3.84186, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.8468, 0.18682, 7.04717 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:39LOEL67OU8NKFA373RJ93PPBBK83V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.36061, 0.18682, 2.69402 ], "start_rotation": [ 0, 0.68039, 0, 0.73285 ], "object_category": "plant", "info": { "geodesic_distance": 6.39869, "euclidean_distance": 4.16358, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.20806, 0.18682, 6.75905 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "91c5afdf381d439380d3ca8d6eb27b03", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3NJM2BJS4Y9W3753MD4VOSO99SOCPZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.59185, 0.18682, 7.12808 ], "start_rotation": [ 0, 0.82346, 0, -0.56737 ], "object_category": "toilet", "info": { "geodesic_distance": 2.80228, "euclidean_distance": 2.28356, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.08909, 0.18682, 5.37467 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "AKYXQY5IP7S0Z:34S9DKFK75S93PUV2Q9SHUBX9E7NYB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.28168, -3.21318, 7.68361 ], "start_rotation": [ 0, 0.99873, 0, -0.05029 ], "object_category": "table", "info": { "geodesic_distance": 3.44511, "euclidean_distance": 2.78109, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.16198, -3.21318, 6.45638 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A5WWHKD82I8UE:3BDCF01OGZXJFPRAQDTD42784CDYLC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.03712, 0.16597, 2.3062 ], "start_rotation": [ 0, 0.62134, 0, -0.78354 ], "object_category": "plant", "info": { "geodesic_distance": 6.09094, "euclidean_distance": 5.23013, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22888, 0.18682, 6.79694 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", "fae6e14f539d49e6ae5007da3497e6fa", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5" ], "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d" ], "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3YMTUJH0DUJR0VLVAF7XA4DI6MQT4E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.29456, -1.41253, 10.1713 ], "start_rotation": [ 0, 0.42248, 0, -0.90637 ], "object_category": "plant", "info": { "geodesic_distance": 6.88077, "euclidean_distance": 2.46735, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80315, 0.18682, 9.06272 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3X66WABAJYL2DUGLQ1371G6MJ3ZG3L", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.23064, -0.69132, 9.20896 ], "start_rotation": [ 0, 0.98092, 0, 0.19439 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.85252, "euclidean_distance": 2.81287, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.99631, 0.18682, 7.51307 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A3TYCJO2DG3RMH:3DBQWDE4Y81B11KBRO4V6XD4HXS5NH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.97301, -2.38269, 10.20405 ], "start_rotation": [ 0, 0.99919, 0, 0.04031 ], "object_category": "picture", "info": { "geodesic_distance": 5.56433, "euclidean_distance": 4.40981, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.87679, 0.18682, 7.12431 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:33LK57MYLV86OSW568SXUVU4M7BZS0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.62872, -2.62404, 10.43332 ], "start_rotation": [ 0, 0.73099, 0, 0.68239 ], "object_category": "table", "info": { "geodesic_distance": 5.93462, "euclidean_distance": 5.31232, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.63056, -3.21318, 7.34105 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "AIOOOO5OXWXKM:3DOCMVPBTPHFRQQHVO0H0EDPRW0NN6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.91568, -3.21318, 7.13019 ], "start_rotation": [ 0, 0.64846, 0, 0.76125 ], "object_category": "towel", "info": { "geodesic_distance": 10.41018, "euclidean_distance": 7.03224, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.26033, -3.21318, 0.07102 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "acc9d5c4eaa8426cb12d58d14e47c6f6", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "0_edge_46_newN_1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A17OSPGV41FZ7P:37TRT2X24SUH7RAZD03GGCWFIDIJB9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.02431, -3.21318, 6.11996 ], "start_rotation": [ 0, 0.10681, 0, 0.99428 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.36966, "euclidean_distance": 6.17217, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.0972, 0.18682, 7.24349 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_46_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:3NPI0JQDAQ8DPO7E8ZZLD2OCG2YPTY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.6991, -3.21318, 4.39169 ], "start_rotation": [ 0, 0.04561, 0, 0.99896 ], "object_category": "bed", "info": { "geodesic_distance": 20.25718, "euclidean_distance": 6.0363, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.307, 0.18682, 4.38255 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AVASQBFN6J692:34FNN24DCOC5D0OPYQD6NDBBI7XY5E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.33542, -3.21318, 10.1301 ], "start_rotation": [ 0, 0.83397, 0, 0.5518 ], "object_category": "toilet", "info": { "geodesic_distance": 7.53951, "euclidean_distance": 6.31981, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.54734, 0.18682, 6.78859 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2Q6L9LKSNU7EB:35LDD5557C7812KEMAT1V77M69SMKJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.45249, 0.12337, -0.65683 ], "start_rotation": [ 0, 0.7, 0, 0.71414 ], "object_category": "sofa", "info": { "geodesic_distance": 25.20121, "euclidean_distance": 5.90803, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82634, -3.21318, 3.73748 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A272X64FOZFYLB:3DZQRBDBSNI53ZPCL1XOQUPP9IV3S4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.68081, 0.07686, -0.78831 ], "start_rotation": [ 0, 0.61078, 0, 0.7918 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.49075, "euclidean_distance": 6.23139, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.19135, 0.18682, 4.42252 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A21ZK49H9LSSRY:3Q8GYXHFER5SAXNK2YVHQMJSF475CB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.48031, 0.07028, 1.99287 ], "start_rotation": [ 0, 0.95524, 0, -0.29584 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.25753, "euclidean_distance": 4.19297, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.93096, 0.18682, 5.37405 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "902b0496eeb94742995708a15c69bb26", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:30LB5CDZNED6NJCTX69DKPOM72BZ0O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.40227, -3.21318, 8.03571 ], "start_rotation": [ 0, 0.99284, 0, -0.11949 ], "object_category": "picture", "info": { "geodesic_distance": 4.23809, "euclidean_distance": 3.74622, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.1222, -3.21318, 4.94951 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", [ "a0624e5f721b4283bbf4455ebc882674" ], "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A31BA1WLSWUSY1:3HPZF4IVNOWQCLX4D00E1JHLXQKYCE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.6658, 0.18682, 3.22885 ], "start_rotation": [ 0, 0.25091, 0, 0.96801 ], "object_category": "sofa", "info": { "geodesic_distance": 23.87795, "euclidean_distance": 3.50826, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82725, -3.21318, 3.63058 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A75XDPFNICR3T:3NPFYT4IZE7ETSNZAQAV8WVR6QWGXJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.08692, -3.21318, 5.00648 ], "start_rotation": [ 0, 0.47803, 0, -0.87834 ], "object_category": "seating", "info": { "geodesic_distance": 19.71733, "euclidean_distance": 3.94662, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19087, 0.18682, 6.7508 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AOG0PUCLMU0HH:3XUHV3NRVM1JR5Y0OQ9I1DG7CKFH5T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.39753, 0.18682, 1.75291 ], "start_rotation": [ 0, 0.99221, 0, -0.12455 ], "object_category": "bed", "info": { "geodesic_distance": 4.44908, "euclidean_distance": 4.09773, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80283, 0.18682, 4.03657 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "AOMFEAWQHU3D8:3X65QVEQI2Q6CMQ5ULBO7BFOLEELC8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.51117, -3.21318, 7.04163 ], "start_rotation": [ 0, 0.99771, 0, 0.06756 ], "object_category": "picture", "info": { "geodesic_distance": 3.37326, "euclidean_distance": 3.07283, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16489, -3.21318, 4.99361 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2OFN0A5CPLH57:33LK57MYLV86OSW568SXUVU4OD8ZSB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.48833, 0.18682, 3.16001 ], "start_rotation": [ 0, 0.9734, 0, 0.22912 ], "object_category": "sink", "info": { "geodesic_distance": 3.92791, "euclidean_distance": 3.3978, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.18069, 0.18682, 5.29581 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A1F6MWP9A0XLJQ:32SCWG5HIJ77NQW2CMRS2SWZDAK6PG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.18392, -0.37208, 8.74885 ], "start_rotation": [ 0, 0.96917, 0, -0.24639 ], "object_category": "seating", "info": { "geodesic_distance": 7.22425, "euclidean_distance": 6.48457, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16703, 0.18682, 6.75216 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "ALZVG5501Y5IX:37QW5D2ZRIPR4WVIXISKHBX16P88SB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.46792, -3.21318, 4.73615 ], "start_rotation": [ 0, 0.23676, 0, -0.97157 ], "object_category": "cushion", "info": { "geodesic_distance": 2.26015, "euclidean_distance": 2.01056, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.77136, -3.21318, 3.39457 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:39U1BHVTDNU6IZ2RA12E0ZLCSMUT3T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.37489, 0.18682, 0.85971 ], "start_rotation": [ 0, 0.88058, 0, -0.4739 ], "object_category": "cushion", "info": { "geodesic_distance": 6.26154, "euclidean_distance": 5.52198, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.72701, 0.18682, 4.31608 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:38YMOXR4MW2X7ZT3O85NUM4V63YW64", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.08394, -3.21318, 5.87688 ], "start_rotation": [ 0, 0.95571, 0, -0.2943 ], "object_category": "picture", "info": { "geodesic_distance": 2.63746, "euclidean_distance": 2.05905, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16692, -3.21318, 4.92423 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A19C2SO0IMRZ1L:31IBVUNM9U2GB3M9ZR3V2QYUSXGVFL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.50436, -3.21318, 6.71629 ], "start_rotation": [ 0, 0.55612, 0, 0.8311 ], "object_category": "cushion", "info": { "geodesic_distance": 5.9307, "euclidean_distance": 5.5647, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.99909, -3.21318, 3.43582 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A75XDPFNICR3T:3VAR3R6G1R4C643PQ1BBX6N06XR8OR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.65549, 0.30053, 1.02681 ], "start_rotation": [ 0, 0.32823, 0, 0.9446 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.39319, "euclidean_distance": 2.95973, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.89375, 0.18682, 3.95239 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AKYXQY5IP7S0Z:3JBT3HLQFA59B0GDERO3ZQPUFBSPZS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.23881, 0.18682, 6.38651 ], "start_rotation": [ 0, 0.66099, 0, -0.75039 ], "object_category": "bed", "info": { "geodesic_distance": 2.9147, "euclidean_distance": 2.56789, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.20499, 0.18682, 6.91558 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AQ0YWEW29GSIJ:3KGTPGBS6ZOWXULX66EJML2LMOT2UT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.1296, 0.35803, 0.55129 ], "start_rotation": [ 0, 0.42988, 0, -0.90289 ], "object_category": "seating", "info": { "geodesic_distance": 3.9529, "euclidean_distance": 3.78841, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.56373, 0.18682, 4.01261 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] ] }, { "episode_id": "A7XL1V3G7C2VV:37UQDCYH6ZY3WA73H85JEYLCDNOV7H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.78909, 0.18682, 7.66348 ], "start_rotation": [ 0, 0.61923, 0, -0.78521 ], "object_category": "sink", "info": { "geodesic_distance": 2.48949, "euclidean_distance": 2.28137, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.84936, 0.18682, 5.63128 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2TUUIV61CR0C7:3TMFV4NEPAHKBDCRHN2LE00LVMJW8E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.59703, 0.18682, 2.92735 ], "start_rotation": [ 0, 0.62114, 0, 0.7837 ], "object_category": "seating", "info": { "geodesic_distance": 7.29422, "euclidean_distance": 3.7454, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.02448, 0.18682, 6.6608 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:36H9ULYP64X7K8MFI2PCZ2N0HYIJFT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.19689, -1.48356, 10.40012 ], "start_rotation": [ 0, 0.43172, 0, -0.90201 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.85603, "euclidean_distance": 3.63721, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.07779, 0.18682, 7.17729 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3L8LSM7V7KX3T:3HVVDCPGTGV7Y2ZFZMV4QTHPYVBYT3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.33561, 0.18682, 7.48161 ], "start_rotation": [ 0, 0.8869, 0, -0.46196 ], "object_category": "table", "info": { "geodesic_distance": 6.31844, "euclidean_distance": 4.953, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07398, 0.16168, 3.01232 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AD1ILDUXZHASF:30MVJZJNHOGYJYV2FGPKP61PRAO9JP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.92011, -3.21318, 4.92968 ], "start_rotation": [ 0, 0.19414, 0, 0.98097 ], "object_category": "bed", "info": { "geodesic_distance": 21.68489, "euclidean_distance": 4.67152, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.28374, 0.18682, 6.84623 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_93_newN_0", "path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A272X64FOZFYLB:3K772S5NPAEJNORTZR2L57ML43GHET", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.44721, 0.18682, 2.66348 ], "start_rotation": [ 0, 0.6797, 0, 0.73349 ], "object_category": "toilet", "info": { "geodesic_distance": 4.18428, "euclidean_distance": 3.82085, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.1791, 0.18682, 5.39178 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3X73LLYYQ3HNHU46SQ54VUGUM90HNX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.41826, 0.20381, 1.98906 ], "start_rotation": [ 0, 0.91874, 0, 0.39487 ], "object_category": "counter", "info": { "geodesic_distance": 8.67052, "euclidean_distance": 6.10895, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.56767, 0.18682, 5.65983 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3T5UAYFKJBVTA:33LKR6A5KGNA8WOCNXOVC66FRZDT1P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.00317, 0.18682, 8.76705 ], "start_rotation": [ 0, 0.33638, 0, -0.94173 ], "object_category": "sink", "info": { "geodesic_distance": 4.62264, "euclidean_distance": 4.4006, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.96866, 0.18682, 5.71446 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AKYXQY5IP7S0Z:317HQ483I9VNDPFQY8NPV6H9MN5INJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.30894, 0.18682, 1.40126 ], "start_rotation": [ 0, 0.89041, 0, 0.45516 ], "object_category": "table", "info": { "geodesic_distance": 11.22076, "euclidean_distance": 3.75723, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.18488, 0.17679, 3.21865 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "fea557b2ef0e46929f85f0bfd71f9bdc", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2KOR4003SVNC5:3X73LLYYQ3HNHU46SQ54VUGUJWJHNN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.22738, 0.18682, 6.3336 ], "start_rotation": [ 0, 0.77061, 0, -0.6373 ], "object_category": "towel", "info": { "geodesic_distance": 5.63724, "euclidean_distance": 4.92924, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.60581, 0.18682, 5.21126 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_29_newN_0", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "APGX2WZ59OWDN:3NGI5ARFTV8CG4V56GFB7W5HOASP1S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.72964, 0.18682, 7.33244 ], "start_rotation": [ 0, 0.75201, 0, 0.65915 ], "object_category": "towel", "info": { "geodesic_distance": 8.04502, "euclidean_distance": 7.60384, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.63944, 0.18682, 5.27898 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A9K0CV70JWG1W:3WJ1OXY92CJN409OGI6TWB3VHG08A5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.73255, 0.18682, 8.75599 ], "start_rotation": [ 0, 0.95218, 0, 0.30553 ], "object_category": "chair", "info": { "geodesic_distance": 4.00066, "euclidean_distance": 3.46451, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15604, 0.18682, 5.70174 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3TPZPLC3M2F8Q79KTKTUVPKF0LLP3X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.57272, 0.15924, -0.30646 ], "start_rotation": [ 0, 0.76796, 0, -0.6405 ], "object_category": "plant", "info": { "geodesic_distance": 8.37247, "euclidean_distance": 7.06604, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.28447, 0.18682, 6.86257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A19C2SO0IMRZ1L:3QECW5O0KJ49WEPVOKQ7FWJW3LX5TA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.58919, 0.18682, 0.60789 ], "start_rotation": [ 0, 0.23051, 0, 0.97307 ], "object_category": "seating", "info": { "geodesic_distance": 9.30017, "euclidean_distance": 6.05038, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.01224, 0.18682, 6.6303 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:3EQHHY4HQUV5R93P4KR0GD47DSNG5C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.03045, 0.18682, 4.18939 ], "start_rotation": [ 0, 0.2217, 0, -0.97512 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.42525, "euclidean_distance": 3.22062, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.03246, 0.18682, 5.33154 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2O65E9TOSX7GV:3C6FJU71TSWMYFE4ZRLEVP3RHXMUY6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.85142, -3.21318, 3.28023 ], "start_rotation": [ 0, 0.78186, 0, 0.62346 ], "object_category": "sink", "info": { "geodesic_distance": 5.20833, "euclidean_distance": 3.19568, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.16318, -3.21318, 0.07974 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A21ZK49H9LSSRY:33FBRBDW6Q2BXF6M0W2K26TJKIO8CB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.91742, 0.18682, 7.09957 ], "start_rotation": [ 0, 0.68191, 0, -0.73143 ], "object_category": "toilet", "info": { "geodesic_distance": 5.42692, "euclidean_distance": 4.0124, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.01776, 0.18682, 3.06439 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A21ZK49H9LSSRY:36V4Q8R5ZM3UC5I9ZFDYRTJVSU9QML", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.58021, 0.16858, 1.83752 ], "start_rotation": [ 0, 0.79256, 0, -0.6098 ], "object_category": "table", "info": { "geodesic_distance": 4.46935, "euclidean_distance": 2.65939, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.1511, 0.15577, 3.00392 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AQ0YWEW29GSIJ:3EA3QWIZ4KYL82KAV49145N0UOSTIF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.64784, 0.18682, 7.45473 ], "start_rotation": [ 0, 0.76791, 0, -0.64056 ], "object_category": "plant", "info": { "geodesic_distance": 2.19903, "euclidean_distance": 1.93174, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.73829, 0.18682, 9.14554 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A3GWRDHAURRNK6:33TIN5LC06DOENQ11GQNZTGCN1Y9YB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.21945, 0.18682, 7.26036 ], "start_rotation": [ 0, 0.77541, 0, 0.63146 ], "object_category": "toilet", "info": { "geodesic_distance": 4.91955, "euclidean_distance": 4.24963, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.06209, 0.18682, 2.96913 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3GWRDHAURRNK6:33PPO7FECXIERDOD9E9MZ15F5LKDIE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.53603, -3.21318, 1.49431 ], "start_rotation": [ 0, 0.94631, 0, 0.32325 ], "object_category": "counter", "info": { "geodesic_distance": 2.85722, "euclidean_distance": 2.15629, "closest_goal_object_id": 210, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.19996, -3.21318, 0.05993 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:39L1G8WVWSU59FQI8II4UT2H04331W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.24315, 0.25233, 2.45338 ], "start_rotation": [ 0, 0.33706, 0, 0.94148 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.24867, "euclidean_distance": 2.96206, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90784, 0.18682, 5.41844 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3F0NFNLOLFJT0:3G0WWMR1UXN0UN39BGSY488VXKVNQU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.64544, 0.18682, 6.94386 ], "start_rotation": [ 0, 0.65319, 0, -0.7572 ], "object_category": "table", "info": { "geodesic_distance": 4.50185, "euclidean_distance": 4.14398, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.01799, 0.17592, 3.06316 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2GQH4SWIOFH2L:3IOEN3P9S9M46YD0RKG21WE1AU616Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.05064, 0.18682, 5.56326 ], "start_rotation": [ 0, 0.38929, 0, 0.92112 ], "object_category": "cushion", "info": { "geodesic_distance": 2.33572, "euclidean_distance": 2.21738, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.86941, 0.18682, 4.40544 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "37fc3df516b34c7b95d95c9097151ad9", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", [ "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A1NKBXOTZAI1YK:3MHW492WW2GMHDEQLE78XGI3LKCVMG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.62837, 0.30693, 0.72415 ], "start_rotation": [ 0, 0.07739, 0, -0.997 ], "object_category": "toilet", "info": { "geodesic_distance": 2.54404, "euclidean_distance": 2.26849, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.89404, 0.18682, 2.87881 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A302KOFOYLD89A:3I33IC7ZWH5CIL7Z01XSMKQSYJ12AY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.69974, -3.21318, 3.57863 ], "start_rotation": [ 0, 0.81041, 0, -0.58586 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.58727, "euclidean_distance": 8.41049, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.10936, 0.18682, 7.28823 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1A6UVH1CCP8CD:34QN5IT0T1UR3NB6OG9075RIBXX08O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.81002, 0.18682, 5.53314 ], "start_rotation": [ 0, 0.71949, 0, 0.69451 ], "object_category": "seating", "info": { "geodesic_distance": 5.47323, "euclidean_distance": 4.85849, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.07315, 0.18682, 6.6571 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "91c5afdf381d439380d3ca8d6eb27b03", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A28HB7240OFGEW:31N2WW6R9TTWZUKQFHXPJV6BYHP3F3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.75857, -3.21318, 10.21125 ], "start_rotation": [ 0, 0.95275, 0, -0.30377 ], "object_category": "shower", "info": { "geodesic_distance": 14.37154, "euclidean_distance": 7.13521, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.83493, 0.18682, 5.38182 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_42_newN_1", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3U84XHCDIEGNM7UUG7WFWSEZOF9Z4O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.69211, 0.18682, 9.8366 ], "start_rotation": [ 0, 0.74391, 0, 0.66827 ], "object_category": "sink", "info": { "geodesic_distance": 5.65164, "euclidean_distance": 4.8753, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.97311, 0.18682, 5.64493 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2TUUIV61CR0C7:3TR2532VIRXB1FT4H9M85WAN1836JW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.08009, 0.18682, 9.6563 ], "start_rotation": [ 0, 0.37972, 0, 0.9251 ], "object_category": "sink", "info": { "geodesic_distance": 5.49703, "euclidean_distance": 5.13579, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.92257, 0.18682, 5.70927 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2TUUIV61CR0C7:3ERMJ6L4D0VK6NDU3G4SR220Z2SM72", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.2822, 0.18682, 7.29397 ], "start_rotation": [ 0, 0.63141, 0, -0.77545 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.30873, "euclidean_distance": 3.12192, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.14321, 0.18682, 4.32756 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A9K0CV70JWG1W:3NG53N1RLXMUR4FQ51OQM6SQFRB8P9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.72786, 0.30931, 0.99868 ], "start_rotation": [ 0, 0.90001, 0, -0.43588 ], "object_category": "toilet", "info": { "geodesic_distance": 2.36608, "euclidean_distance": 2.03749, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.97081, 0.18682, 2.90273 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A1ZE52NWZPN85P:39GAF6DQWT3PLOS1SSOADOUZ8OI1VS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61772, 0.16326, 3.1831 ], "start_rotation": [ 0, 0.16389, 0, -0.98648 ], "object_category": "cushion", "info": { "geodesic_distance": 2.85893, "euclidean_distance": 2.38673, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.74951, 0.18682, 4.17896 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AD1ILDUXZHASF:3CN4LGXD5ZRNHHKPKLUWIL5XIRCY4F", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.81657, -2.50742, 10.05781 ], "start_rotation": [ 0, 0.99706, 0, 0.07665 ], "object_category": "seating", "info": { "geodesic_distance": 11.13153, "euclidean_distance": 5.73899, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.03824, 0.18682, 6.6444 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:3RXPCZQMQRE63R263XPODNRQ4A51G1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.71613, 0.18682, 10.16219 ], "start_rotation": [ 0, 0.98719, 0, 0.15956 ], "object_category": "table", "info": { "geodesic_distance": 8.18935, "euclidean_distance": 7.15467, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.15099, 0.16843, 3.12095 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:33F859I568GLGLF9P00V4ZG02OPBHA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.5604, 0.18682, 3.12261 ], "start_rotation": [ 0, 0.84915, 0, -0.52816 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.76428, "euclidean_distance": 2.2342, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.9322, 0.18682, 5.34958 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3TAYZSBPLNBGIHTTH1JJ7KKYKQB2SZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.58326, -3.21318, 1.99164 ], "start_rotation": [ 0, 0.41957, 0, -0.90772 ], "object_category": "shower", "info": { "geodesic_distance": 21.91394, "euclidean_distance": 7.27749, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90268, 0.18682, 5.44335 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3T5UAYFKJBVTA:3KV0LJBBH4OUO6X9CU2YWJT04UBMRQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5991, 0.18682, 7.42628 ], "start_rotation": [ 0, 0.89315, 0, -0.44976 ], "object_category": "sofa", "info": { "geodesic_distance": 17.70974, "euclidean_distance": 6.18574, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80285, -3.21318, 3.75766 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A9K0CV70JWG1W:30X31N5D65T5NKOXUGCYD23WTLUSAY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.22897, -3.21318, 8.55795 ], "start_rotation": [ 0, 0.33559, 0, -0.94201 ], "object_category": "table", "info": { "geodesic_distance": 4.31005, "euclidean_distance": 3.21946, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.22552, -3.21318, 6.36196 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A3KC26Z78FBOJT:39PAAFCODO3QU84AUB8KJUDU07TTVD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.94184, 0.10393, 1.90015 ], "start_rotation": [ 0, 0.9964, 0, -0.08476 ], "object_category": "plant", "info": { "geodesic_distance": 6.78081, "euclidean_distance": 6.07745, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.35599, 0.18682, 6.86487 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JCG6DTRV5TLXKG1R8KF8230F9JQQQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.18997, 0.22843, 1.70488 ], "start_rotation": [ 0, 0.9715, 0, -0.23702 ], "object_category": "plant", "info": { "geodesic_distance": 2.88672, "euclidean_distance": 2.67708, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80314, 0.18682, 4.04071 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37Q970SNZGB9TWBXYXJ521ATPRNS19", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.26073, 0.18682, 3.12394 ], "start_rotation": [ 0, 0.66239, 0, 0.74916 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.60333, "euclidean_distance": 2.3175, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.07531, 0.18682, 5.33813 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A29CNQYJWMJ7G9:3GU1KF0O4K4DT2DX8D80D8IQ8CWBPO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.40738, -2.05774, 10.29334 ], "start_rotation": [ 0, 0.48478, 0, -0.87464 ], "object_category": "cushion", "info": { "geodesic_distance": 10.99546, "euclidean_distance": 9.46626, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.96043, -3.21318, 3.36983 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:3FTOP5WARHRGN47PFK6RWV0VAJJ0J3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.61509, 0.18682, 6.75132 ], "start_rotation": [ 0, 0.99377, 0, -0.11141 ], "object_category": "towel", "info": { "geodesic_distance": 4.71196, "euclidean_distance": 4.24629, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.43034, 0.18682, 5.30029 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3KC26Z78FBOJT:3S3AMIZX3W8NEA2DH4D0OY7JCEPDCF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.71296, 0.18682, 7.21866 ], "start_rotation": [ 0, 0.3238, 0, -0.94613 ], "object_category": "cushion", "info": { "geodesic_distance": 5.8709, "euclidean_distance": 2.94618, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71674, 0.18682, 4.25888 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2TUUIV61CR0C7:323Q6SJS8KJBT2RPU2MRNP7LG4CFHQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.54117, 0.18682, 9.10288 ], "start_rotation": [ 0, 0.98997, 0, -0.14128 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.27441, "euclidean_distance": 2.69073, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.11421, 0.18682, 6.92645 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AQ0YWEW29GSIJ:3TGOYF991ZP5H6UZPQOPS4XD7XKUUD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.18488, -3.21318, 9.40913 ], "start_rotation": [ 0, 0.0388, 0, 0.99925 ], "object_category": "bed", "info": { "geodesic_distance": 15.82327, "euclidean_distance": 4.30385, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.40982, 0.18682, 6.81759 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3A0EX8ZRNAR72G5YZ04JQZB3VC2BYW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.3518, 0.18682, 3.05958 ], "start_rotation": [ 0, 0.4051, 0, -0.91427 ], "object_category": "towel", "info": { "geodesic_distance": 4.2257, "euclidean_distance": 2.16377, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.45539, 0.18682, 5.31599 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3T5UAYFKJBVTA:39LOEL67OU8NKFA373RJ93POXT338T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.65412, -3.21318, 5.94237 ], "start_rotation": [ 0, 0.55664, 0, -0.83075 ], "object_category": "bed", "info": { "geodesic_distance": 19.03612, "euclidean_distance": 3.51784, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.28325, 0.18682, 6.79448 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3AMYWKA6YDPP2QK1XMEDDSR8K1W6OE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.67415, 0.18682, 4.32069 ], "start_rotation": [ 0, 0.66253, 0, 0.74903 ], "object_category": "chair", "info": { "geodesic_distance": 3.01122, "euclidean_distance": 2.67402, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.34208, 0.13979, 2.96781 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AD1ILDUXZHASF:3M0BCWMB8XZ3DBAYKZMV52QNK9SWBI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.14758, 0.09521, 7.98396 ], "start_rotation": [ 0, 0.72331, 0, 0.69052 ], "object_category": "table", "info": { "geodesic_distance": 7.31662, "euclidean_distance": 6.3682, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07781, 0.1653, 3.04812 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:30OG32W0SWEBXKD42PXYARJHUPGENE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.37762, -3.21318, 6.43814 ], "start_rotation": [ 0, 0.97551, 0, -0.21994 ], "object_category": "picture", "info": { "geodesic_distance": 2.04274, "euclidean_distance": 1.85287, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.25254, -3.21318, 4.94382 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2TUUIV61CR0C7:34Z02EIMIUGA173UREKVY1N44UM0TY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.3408, -3.21318, 5.93697 ], "start_rotation": [ 0, 0.99682, 0, -0.07963 ], "object_category": "toilet", "info": { "geodesic_distance": 8.36015, "euclidean_distance": 6.93883, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.11771, -3.21318, -0.03025 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A31BA1WLSWUSY1:3OS4RQUCRBI12PO3UACV1E4N9T1BFS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.33937, -3.21318, 10.37096 ], "start_rotation": [ 0, 0.56112, 0, 0.82774 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.98859, "euclidean_distance": 6.57458, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.14295, 0.18682, 7.38376 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOMFEAWQHU3D8:3MYYFCXHJ5ANVQZPQF8QBLYSXO6G4N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.44052, -2.78034, 10.14221 ], "start_rotation": [ 0, 0.9298, 0, 0.36806 ], "object_category": "bed", "info": { "geodesic_distance": 11.95053, "euclidean_distance": 5.84354, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.30924, 0.18682, 6.81899 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "AJQGWGESKQT4Y:3U5NZHP4LT5NKFGJ85IWZJLPJQCPHD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.60601, -3.21318, 9.96869 ], "start_rotation": [ 0, 0.38839, 0, -0.9215 ], "object_category": "plant", "info": { "geodesic_distance": 7.78838, "euclidean_distance": 7.15844, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.95547, -3.21318, 3.42176 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:3NPFYT4IZE7ETSNZAQAV8WVQQY1GXM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.54425, 0.31055, 2.7355 ], "start_rotation": [ 0, 0.90189, 0, 0.43197 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.43143, "euclidean_distance": 2.22017, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.84165, 0.18682, 4.2007 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AZPZDX26SYMFY:3WZ36BJEV5JBLU64PUHKIIJODHVTBB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.11753, -3.21318, 7.85978 ], "start_rotation": [ 0, 0.82909, 0, -0.55911 ], "object_category": "shower", "info": { "geodesic_distance": 16.85927, "euclidean_distance": 6.30045, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.73381, 0.18682, 5.35451 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3GWRDHAURRNK6:39U1BHVTDNU6IZ2RA12E0ZLB9DI3TO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.44011, 0.18682, 7.44097 ], "start_rotation": [ 0, 0.89965, 0, -0.43662 ], "object_category": "towel", "info": { "geodesic_distance": 3.65836, "euclidean_distance": 2.50011, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.4598, 0.18682, 5.30047 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2TUUIV61CR0C7:3ZWFC4W1UWAOIW5SQ7YL1T9R3DBRF0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.58377, 0.31538, 0.2931 ], "start_rotation": [ 0, 0.99998, 0, -0.00624 ], "object_category": "toilet", "info": { "geodesic_distance": 2.91524, "euclidean_distance": 2.67695, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.91288, 0.18682, 2.89074 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A2R0YYUAWNT7UD:392CY0QWG3U1RH5KG38TWXB9S95I4M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.57348, 0.10295, 1.94832 ], "start_rotation": [ 0, 0.7739, 0, 0.63331 ], "object_category": "seating", "info": { "geodesic_distance": 8.53856, "euclidean_distance": 7.22374, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.23517, 0.18682, 6.71395 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3Z4AIRP3C8GHPDXWS7PS19RL4281X1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.60086, 0.05475, 2.31335 ], "start_rotation": [ 0, 0.05765, 0, -0.99834 ], "object_category": "seating", "info": { "geodesic_distance": 6.64919, "euclidean_distance": 5.00708, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.05833, 0.18682, 6.6669 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d" ], "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3BGYGHDBBZNNDICVNM4DG27UJSM22V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.48693, -3.21318, 3.55773 ], "start_rotation": [ 0, 0.15294, 0, 0.98824 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 19.85222, "euclidean_distance": 5.83257, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.71917, 0.18682, 7.00292 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AEWGY34WUIA32:3D8YOU6S9GNKFV4YT8QMCYJYIZQ6U3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.35594, -1.16066, 10.13689 ], "start_rotation": [ 0, 0.4641, 0, 0.88578 ], "object_category": "table", "info": { "geodesic_distance": 9.11167, "euclidean_distance": 7.82546, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.62748, -3.21318, 7.26429 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3ZPBJO59KR4EVIDT3WR1ZP4052UHD2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.44454, -3.21318, 4.42531 ], "start_rotation": [ 0, 0.33967, 0, -0.94054 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 18.38568, "euclidean_distance": 4.80495, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.73703, 0.18682, 6.99437 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:37TRT2X24SUH7RAZD03GGCWFF9FBJN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.0778, 0.18682, 5.5207 ], "start_rotation": [ 0, 0.8373, 0, -0.54675 ], "object_category": "chair", "info": { "geodesic_distance": 4.35272, "euclidean_distance": 3.72229, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.35919, 0.13597, 2.93891 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3GLB5JMZFZY0VMIIJQ9JEPSZQDYDG2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.83829, -3.21318, 9.88118 ], "start_rotation": [ 0, 0.07533, 0, -0.99716 ], "object_category": "table", "info": { "geodesic_distance": 4.0278, "euclidean_distance": 3.55074, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.66209, -3.21318, 7.26778 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:386CSBG1O1PSN2XHCZ6H2XM9F3F6Q7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.19556, 0.15162, 0.22274 ], "start_rotation": [ 0, 0.90295, 0, 0.42976 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.35436, "euclidean_distance": 5.10982, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.24906, 0.18682, 4.36208 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3QY5DC2MXTNGYOX9U1TQ64WBYEOUF8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.33775, 0.0254, -0.48376 ], "start_rotation": [ 0, 0.94943, 0, -0.31399 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.73708, "euclidean_distance": 6.39307, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.10244, 0.18682, 5.29179 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3OF2M9AATIR809JX1ZJV393VO1LKZO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.56292, 0.11255, 1.17313 ], "start_rotation": [ 0, 0.30754, 0, -0.95154 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.35106, "euclidean_distance": 4.1389, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.34377, 0.18682, 4.35893 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3C6FJU71TSWMYFE4ZRLEVP3Q1TJUYD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.73796, -3.21318, -0.08658 ], "start_rotation": [ 0, 0.9125, 0, 0.40909 ], "object_category": "picture", "info": { "geodesic_distance": 4.27056, "euclidean_distance": 3.80656, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.18412, -3.21318, 3.18891 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "ADEMAGRRRGSPT:3PDJHANYK7JFA9YET9JNTJU78BK6HK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.99907, 0.18682, 6.87451 ], "start_rotation": [ 0, 0.79181, 0, 0.61077 ], "object_category": "sink", "info": { "geodesic_distance": 4.30034, "euclidean_distance": 3.30566, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.93099, 0.18682, 5.58687 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AQ0YWEW29GSIJ:37UEWGM5HVBXSHBKJ8J0CR5X3EO1RS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.08425, -3.21318, -0.18717 ], "start_rotation": [ 0, 0.79021, 0, 0.61283 ], "object_category": "chair", "info": { "geodesic_distance": 5.10869, "euclidean_distance": 4.85723, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.7359, -3.21318, 4.56325 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3K4J6M3CXGW2XFF6ZGIHOOKT8YPGA6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.10307, -3.21318, 4.2059 ], "start_rotation": [ 0, 0.71661, 0, -0.69747 ], "object_category": "toilet", "info": { "geodesic_distance": 4.69715, "euclidean_distance": 4.42458, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.05708, -3.21318, -0.03459 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A75XDPFNICR3T:35H6S234SC33UGEJS7IE4MRIIWM651", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.72087, 0.18682, 3.03064 ], "start_rotation": [ 0, 0.70775, 0, -0.70646 ], "object_category": "toilet", "info": { "geodesic_distance": 4.71212, "euclidean_distance": 4.15928, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.20753, 0.18682, 5.4181 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1RQLE4ZMTU22A:39L1G8WVWSU59FQI8II4UT2GJHU13S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.28028, -3.21318, 8.54346 ], "start_rotation": [ 0, 0.9993, 0, -0.03738 ], "object_category": "picture", "info": { "geodesic_distance": 4.7243, "euclidean_distance": 4.10785, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15351, -3.21318, 5.01459 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f533db485c9c4a72b7b456bbc6ea5d07", "path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3AAPLD8UCEKLC79QPMRG4TMMVEOTH6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.3156, 0.18682, 4.95732 ], "start_rotation": [ 0, 0.40293, 0, -0.91523 ], "object_category": "counter", "info": { "geodesic_distance": 4.77277, "euclidean_distance": 2.30405, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.57183, 0.18682, 5.66972 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", [ "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A3GWRDHAURRNK6:3R9WASFE21JXKNRJ0OSYNWBPX4AFZ0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.79995, -3.21318, 6.76646 ], "start_rotation": [ 0, 0.89984, 0, -0.43622 ], "object_category": "bed", "info": { "geodesic_distance": 18.30515, "euclidean_distance": 3.43659, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.26187, 0.18682, 6.79049 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AQ0YWEW29GSIJ:3R3YRB5GRH6L2XG1JL7YS3LKH70UAI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.1997, 0.18682, 5.36305 ], "start_rotation": [ 0, 0.96882, 0, -0.24777 ], "object_category": "chair", "info": { "geodesic_distance": 3.46221, "euclidean_distance": 3.01417, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.28906, 0.13502, 2.89474 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AREQ43Q0T8ENT:31HQ4X3T3UDMJ3F1R71OMGJ7ACFLSC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.08083, -3.21318, 6.82925 ], "start_rotation": [ 0, 0.82686, 0, -0.56241 ], "object_category": "shower", "info": { "geodesic_distance": 17.90519, "euclidean_distance": 6.14041, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.79524, 0.18682, 5.52052 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A5WWHKD82I8UE:3Z4XG4ZF4AUZ0DHHRSY7GJETL028X3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.00082, -3.21318, 1.6817 ], "start_rotation": [ 0, 0.73492, 0, 0.67815 ], "object_category": "sink", "info": { "geodesic_distance": 3.1201, "euclidean_distance": 2.69794, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.11949, -3.21318, -0.01248 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A1R0689JPSQ3OF:3NPFYT4IZE7ETSNZAQAV8WVQQOPXG7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.74141, 0.18682, 4.13757 ], "start_rotation": [ 0, 0.97153, 0, 0.2369 ], "object_category": "plant", "info": { "geodesic_distance": 4.20714, "euclidean_distance": 3.58854, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.26802, 0.18682, 6.74721 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0" ] ] }, { "episode_id": "AM7FYVGVOEP66:3LEIZ60CDL2OJD06X2S6D0PFD69Z97", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.17455, -3.21318, 10.2976 ], "start_rotation": [ 0, 0.51594, 0, -0.85663 ], "object_category": "picture", "info": { "geodesic_distance": 6.47225, "euclidean_distance": 5.65799, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.2201, -3.21318, 5.08848 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3YMTUJH0DUJR0VLVAF7XA4DHP66T4F", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.30031, 0.27547, 0.57688 ], "start_rotation": [ 0, 0.17851, 0, -0.98394 ], "object_category": "plant", "info": { "geodesic_distance": 3.96287, "euclidean_distance": 3.73068, "closest_goal_object_id": 32, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.89582, 0.18682, 4.09992 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "fea557b2ef0e46929f85f0bfd71f9bdc", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1R0689JPSQ3OF:36H9ULYP64X7K8MFI2PCZ2NZE2PFJZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.68195, 0.18682, 8.60154 ], "start_rotation": [ 0, 0.98607, 0, -0.16632 ], "object_category": "picture", "info": { "geodesic_distance": 3.29139, "euclidean_distance": 2.73378, "closest_goal_object_id": 21, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12796, 0.18682, 6.31047 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3O7L7BFSHGSJJJ2D59K65JNZR2EEIV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.26687, -3.21318, 0.59599 ], "start_rotation": [ 0, 0.65462, 0, -0.75595 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.74599, "euclidean_distance": 1.69291, "closest_goal_object_id": 223, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.76752, -3.21318, -0.00369 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2R0YYUAWNT7UD:3R8YZBNQ9JLBR2BMV9B98BM5AD77QD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.23278, 0.18682, 7.25093 ], "start_rotation": [ 0, 0.30523, 0, 0.95228 ], "object_category": "sink", "info": { "geodesic_distance": 4.95952, "euclidean_distance": 4.51239, "closest_goal_object_id": 16, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.46037, 0.18682, 2.79738 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "f9e969d895654fb5b82a1366e0b72762", "path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A1R0689JPSQ3OF:374TNBHA8DYU6M7NII19LO6100DYQY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.26097, -3.21318, 0.09044 ], "start_rotation": [ 0, 0.89456, 0, -0.44695 ], "object_category": "seating", "info": { "geodesic_distance": 25.95973, "euclidean_distance": 7.73864, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.05213, 0.18682, 6.67589 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2GQH4SWIOFH2L:3Z3ZLGNNSKXTQJAZTX8JVUAP8G63Q2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.22802, 0.18682, -0.34373 ], "start_rotation": [ 0, 0.549, 0, 0.83582 ], "object_category": "sofa", "info": { "geodesic_distance": 25.11799, "euclidean_distance": 5.63481, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.78948, -3.21318, 3.61734 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:34S9DKFK75S93PUV2Q9SHUBWVPBNYL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.35081, 0.18682, 5.66447 ], "start_rotation": [ 0, 0.58165, 0, -0.81344 ], "object_category": "cushion", "info": { "geodesic_distance": 2.21044, "euclidean_distance": 1.94693, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.765, 0.18682, 4.30787 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A272X64FOZFYLB:31Z0PCVWUMIOJI3ECD54DGXRG257TA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.40178, -3.21318, 10.02781 ], "start_rotation": [ 0, 0.59832, 0, -0.80126 ], "object_category": "picture", "info": { "geodesic_distance": 5.76433, "euclidean_distance": 5.17764, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.161, -3.21318, 5.155 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A2J5DN5UMU0A3Z:3Z7EFSHGNBH1CG7U84ECI5ACVIMXCZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.37267, 0.19848, 2.03797 ], "start_rotation": [ 0, 0.99922, 0, -0.03938 ], "object_category": "table", "info": { "geodesic_distance": 11.05682, "euclidean_distance": 4.5335, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.10742, 0.17232, 3.13078 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QBD8R3Z23MBN3GNEYLYGU7V30FO4X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.01308, 0.18682, 9.7971 ], "start_rotation": [ 0, 0.86551, 0, 0.5009 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.98713, "euclidean_distance": 3.56193, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.97917, 0.18682, 7.03695 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "AIIOT9A7ARQZW:3X66WABAJYL2DUGLQ1371G6N2OU3GU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.4837, 0.23821, 2.82216 ], "start_rotation": [ 0, 0.6019, 0, 0.79857 ], "object_category": "toilet", "info": { "geodesic_distance": 4.11312, "euclidean_distance": 2.51536, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.19685, 0.18682, 5.32325 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3KC26Z78FBOJT:39K0FND3AJI2PPBSAJGC1T4PLFEMA2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.0432, -3.21318, 9.61044 ], "start_rotation": [ 0, 0.37887, 0, 0.92545 ], "object_category": "towel", "info": { "geodesic_distance": 11.14649, "euclidean_distance": 9.79028, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.38493, -3.21318, 0.12227 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee" ], "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3HL2LL0LEPZT8:3A1COHJ8NLY2ENH2MOGLDXQZH1E8H7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.05167, -2.31644, 10.43242 ], "start_rotation": [ 0, 0.01243, 0, 0.99992 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.21604, "euclidean_distance": 4.48965, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.12184, 0.18682, 7.33094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "A5A14MTB35J23:3OSWBBLG1G0BH8D8809N2BSUWSHDXY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.37805, 0.18682, 7.4546 ], "start_rotation": [ 0, 0.92318, 0, -0.38436 ], "object_category": "chair", "info": { "geodesic_distance": 3.10355, "euclidean_distance": 2.82568, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19446, 0.18682, 5.66784 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AD1ILDUXZHASF:3YJ6NA41JDJJBLB9W5LHBW14WJYJPW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.73745, -1.21318, 10.06347 ], "start_rotation": [ 0, 0.84931, 0, -0.5279 ], "object_category": "cushion", "info": { "geodesic_distance": 10.06052, "euclidean_distance": 6.03269, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67126, 0.18682, 4.26995 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2R0YYUAWNT7UD:3R8YZBNQ9JLBR2BMV9B98BM5AD6Q7V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.49354, 0.18682, 2.11088 ], "start_rotation": [ 0, 0.31312, 0, 0.94971 ], "object_category": "sink", "info": { "geodesic_distance": 4.27541, "euclidean_distance": 4.12626, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.19692, 0.18682, 5.30645 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A2FUNB3BUB3U07:31UV0MXWNSFJN09KU8R31PHNV28I5W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.67182, -1.87117, 10.11793 ], "start_rotation": [ 0, 0.31381, 0, -0.94949 ], "object_category": "table", "info": { "geodesic_distance": 7.08893, "euclidean_distance": 6.15587, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.54741, -3.21318, 7.41882 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A1RQLE4ZMTU22A:3PQMUDRV7T9VZO4Z1SAXQYLSXREII9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.24739, 0.18682, 1.59699 ], "start_rotation": [ 0, 0.7623, 0, -0.64722 ], "object_category": "shower", "info": { "geodesic_distance": 6.48857, "euclidean_distance": 5.88287, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.87607, 0.18682, 5.31603 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2ZZW6KME1FUDU:3SLE99ER0PG776F3VM6246K517MZBT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.33138, -3.21318, 6.29024 ], "start_rotation": [ 0, 0.50827, 0, 0.8612 ], "object_category": "sink", "info": { "geodesic_distance": 1.07575, "euclidean_distance": 1.00494, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.21992, -3.21318, 6.88531 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2TUUIV61CR0C7:388U7OUMF94XLSQ2NPF0YMMNYMAR07", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.79068, 0.18682, 9.60535 ], "start_rotation": [ 0, 0.93526, 0, 0.35397 ], "object_category": "sink", "info": { "geodesic_distance": 5.44551, "euclidean_distance": 4.62489, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.88917, 0.18682, 5.58719 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3FSDH6HUZPNQ8:35USIKEBNTJ7K5KPW7E0Y3R4XK66N5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.17121, 0.1378, -0.8228 ], "start_rotation": [ 0, 0.98348, 0, 0.18103 ], "object_category": "sofa", "info": { "geodesic_distance": 25.50216, "euclidean_distance": 5.93357, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.78203, -3.21318, 3.66544 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3137ONMDKI85NSWIFLK3K7AJC1FGEM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.52711, 0.18682, 5.07843 ], "start_rotation": [ 0, 0.39402, 0, 0.9191 ], "object_category": "cushion", "info": { "geodesic_distance": 1.5987, "euclidean_distance": 1.47756, "closest_goal_object_id": 34, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.85737, 0.18682, 4.32984 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3L8LSM7V7KX3T:3G0WWMR1UXN0UN39BGSY488UWAENQQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.01506, 0.18682, 5.24047 ], "start_rotation": [ 0, 0.1401, 0, 0.99014 ], "object_category": "picture", "info": { "geodesic_distance": 2.85493, "euclidean_distance": 2.51054, "closest_goal_object_id": 161, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.71588, 0.18682, 6.30984 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3IUZPWIU1QA46EESQCZO459D71NKW8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.13599, 0.19955, 2.05711 ], "start_rotation": [ 0, 0.08669, 0, 0.99624 ], "object_category": "bed", "info": { "geodesic_distance": 3.30451, "euclidean_distance": 2.52656, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.67941, 0.18682, 4.23781 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A28U7B76HLCS1U:3ZPBJO59KR4EVIDT3WR1ZP4081ZDH4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.23567, 0.18682, 9.08874 ], "start_rotation": [ 0, 0.3855, 0, -0.92271 ], "object_category": "toilet", "info": { "geodesic_distance": 4.08038, "euclidean_distance": 3.20783, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.53679, 0.18682, 6.85984 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A272X64FOZFYLB:3E13VNJ1NPYKZI81TLPRYZ46GNB1I4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.11875, -3.21318, 10.18554 ], "start_rotation": [ 0, 0.14417, 0, 0.98955 ], "object_category": "plant", "info": { "geodesic_distance": 8.33371, "euclidean_distance": 7.56482, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.084, -3.21318, 3.32469 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AAX9LTAOIBECD:3YOH7BII0BARRPEN02USI3QZ0QWVKG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.24201, 0.11703, 1.87878 ], "start_rotation": [ 0, 0.244, 0, -0.96978 ], "object_category": "sink", "info": { "geodesic_distance": 4.47535, "euclidean_distance": 3.97277, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.05133, 0.18682, 5.24596 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2KOR4003SVNC5:3NJM2BJS4Y9W3753MD4VOSO96TBCPL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.2034, 0.18682, 9.14186 ], "start_rotation": [ 0, 0.63314, 0, 0.77404 ], "object_category": "bed", "info": { "geodesic_distance": 5.76573, "euclidean_distance": 5.08836, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.27901, 0.18682, 6.6759 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A1NSHNH3MNFRGW:3H7Z272LX9AP6BZ9ZQXURBEVK1JPLO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.99469, -2.36367, 10.25265 ], "start_rotation": [ 0, 0.69438, 0, -0.71961 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.17069, "euclidean_distance": 4.69695, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.92901, 0.18682, 6.96721 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", [ "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3D3VGR7TA2IT2KPZ6CXJ0KKTNLIR3K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5793, 0.18682, 5.029 ], "start_rotation": [ 0, 0.23058, 0, -0.97305 ], "object_category": "seating", "info": { "geodesic_distance": 3.96173, "euclidean_distance": 2.97297, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.02972, 0.18682, 6.70919 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3CPLWGV3MQ2U2OMNUEHCIDI5KX8N9A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.6738, -3.21318, 5.73477 ], "start_rotation": [ 0, 0.57424, 0, 0.81869 ], "object_category": "seating", "info": { "geodesic_distance": 18.88952, "euclidean_distance": 3.59714, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04113, 0.18682, 6.61529 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3T5UAYFKJBVTA:3UN61F00HYSWGZC3KVLCFHIDXE4R5V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.13153, 0.18682, 9.25643 ], "start_rotation": [ 0, 0.37997, 0, -0.925 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.61929, "euclidean_distance": 2.55335, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07347, 0.18682, 6.85183 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "81309402fcf041df881e7aca01b8b4f2", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AJQGWGESKQT4Y:39N5ACM9HGQU59Y0ATU4M2N13CR9PV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.06226, 0.18682, 3.72192 ], "start_rotation": [ 0, 0.19141, 0, 0.98151 ], "object_category": "table", "info": { "geodesic_distance": 2.53294, "euclidean_distance": 1.97672, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.09775, 0.1597, 3.00825 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A26LOVXF4QZZCO:3D3VGR7TA2IT2KPZ6CXJ0KKU145R3P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.93997, 0.05704, 1.95172 ], "start_rotation": [ 0, 0.31332, 0, 0.94965 ], "object_category": "seating", "info": { "geodesic_distance": 7.9317, "euclidean_distance": 6.75274, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16489, 0.18682, 6.72941 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3F90N8YVKJ4I7:3I02618YA29SP1M384PVIYAFGWNPUM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.37045, 0.18682, 2.95384 ], "start_rotation": [ 0, 0.15935, 0, 0.98722 ], "object_category": "bed", "info": { "geodesic_distance": 2.91482, "euclidean_distance": 2.6721, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.90596, 0.18682, 4.08345 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A2GQH4SWIOFH2L:3LOZAJ85YFGOEYFSBBP66S1QZ49X2W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.52244, -3.21318, 2.09935 ], "start_rotation": [ 0, 0.17294, 0, -0.98493 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.93397, "euclidean_distance": 9.02892, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.16762, 0.18682, 7.26983 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:30H4UDGLT4L9CTHUZ2Y9ROTKMTFPM8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.01825, -1.61348, 10.53989 ], "start_rotation": [ 0, 0.06695, 0, 0.99776 ], "object_category": "bed", "info": { "geodesic_distance": 10.11851, "euclidean_distance": 6.7612, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.22092, 0.18682, 6.89068 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AZPZDX26SYMFY:3JNQLM5FT6PTE4Y3XSMIVY63OHQ2LA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.60361, 0.18682, 4.17723 ], "start_rotation": [ 0, 0.76749, 0, -0.64106 ], "object_category": "towel", "info": { "geodesic_distance": 2.87758, "euclidean_distance": 1.41766, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.48715, 0.18682, 5.34705 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ATPCQ38JAD2J606TM4NVORWWJ4YA6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.14997, 0.18682, 3.20078 ], "start_rotation": [ 0, 0.97349, 0, 0.22871 ], "object_category": "seating", "info": { "geodesic_distance": 6.39298, "euclidean_distance": 5.32749, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.09798, 0.18682, 6.74385 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3GLB5JMZFZY0VMIIJQ9JEPSYAD5DGR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.61531, -1.90692, 10.21602 ], "start_rotation": [ 0, 0.70279, 0, 0.7114 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.49133, "euclidean_distance": 3.87695, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.0845, 0.18682, 7.25162 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db" ], "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2J5DN5UMU0A3Z:3II4UPYCOLAR8BCWMMEV83W1W1EDQ6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.16608, 0.18682, 7.12417 ], "start_rotation": [ 0, 0.55531, 0, 0.83164 ], "object_category": "table", "info": { "geodesic_distance": 6.09901, "euclidean_distance": 4.55804, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.04473, 0.16761, 3.02707 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3FQ5JJ512NREJK5EYB818MWMENUKNO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.36074, 0.18682, 6.86501 ], "start_rotation": [ 0, 0.99986, 0, 0.01678 ], "object_category": "chair", "info": { "geodesic_distance": 1.93151, "euclidean_distance": 1.67856, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.12356, 0.18682, 5.73136 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AOMFEAWQHU3D8:3RANCT1ZVHKQL7LTPZ7UNE5PG0TBU3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.6332, 0.18682, 3.94225 ], "start_rotation": [ 0, 0.96678, 0, -0.25561 ], "object_category": "sofa", "info": { "geodesic_distance": 20.55486, "euclidean_distance": 5.67048, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82289, -3.21318, 3.75383 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:3RU7GD8VPQWCAOUZJZUV3XSRVV3SP2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.04122, 0.18682, 9.83453 ], "start_rotation": [ 0, 0.5837, 0, -0.81197 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.03395, "euclidean_distance": 3.62373, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.14531, 0.18682, 6.94512 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A21ZK49H9LSSRY:3VNL7UK1XHM1YBIKUW3G18A9FZ7TF4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.69358, -3.21318, 2.15682 ], "start_rotation": [ 0, 0.04536, 0, 0.99897 ], "object_category": "counter", "info": { "geodesic_distance": 3.53392, "euclidean_distance": 2.53087, "closest_goal_object_id": 210, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.201, -3.21318, 0.02505 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A19C2SO0IMRZ1L:32RIADZISU7QLV8GLF270ZHW16L4SC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.78104, 0.18682, -0.6992 ], "start_rotation": [ 0, 0.75539, 0, -0.65528 ], "object_category": "counter", "info": { "geodesic_distance": 6.50247, "euclidean_distance": 6.09678, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.83146, 0.18682, 5.07699 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A2DDPSXH2X96RF:3RKNTXVS3O1MLZMM4FGGFZNPZTK4AQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.25293, 0.18682, 7.46584 ], "start_rotation": [ 0, 0.62922, 0, -0.77723 ], "object_category": "chair", "info": { "geodesic_distance": 4.88993, "euclidean_distance": 4.43602, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08811, 0.18682, 5.60916 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3UJ1CZ6IZJS8HECGZKLH5RNA0LRS5H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.72584, 0.18682, 6.51908 ], "start_rotation": [ 0, 0.97257, 0, 0.23262 ], "object_category": "toilet", "info": { "geodesic_distance": 2.1795, "euclidean_distance": 1.78649, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.17652, 0.18682, 5.37171 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37UEWGM5HVBXSHBKJ8J0CR5XQ5CR1B", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.00424, -3.21318, 9.88078 ], "start_rotation": [ 0, 0.98363, 0, 0.18021 ], "object_category": "table", "info": { "geodesic_distance": 3.19627, "euclidean_distance": 3.01967, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.51391, -3.21318, 7.34508 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2TUUIV61CR0C7:39GAF6DQWT3PLOS1SSOADOU0OQ11VX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.84646, -3.21318, 6.74241 ], "start_rotation": [ 0, 0.96204, 0, 0.27291 ], "object_category": "cushion", "info": { "geodesic_distance": 4.24404, "euclidean_distance": 3.55092, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93055, -3.21318, 3.34323 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A1NSHNH3MNFRGW:32M8BPYGAVPH3XY4B4AU5M8B262IGZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.72679, -3.21318, 10.06625 ], "start_rotation": [ 0, 0.99464, 0, -0.10336 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.44737, "euclidean_distance": 4.70957, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.89217, 0.18682, 7.07618 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2DDPSXH2X96RF:3ZGVPD4G6VK73S9KV8XN40QQQS2TZ2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.34968, -3.21318, 6.98248 ], "start_rotation": [ 0, 0.37454, 0, -0.92721 ], "object_category": "picture", "info": { "geodesic_distance": 3.22573, "euclidean_distance": 2.91397, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19245, -3.21318, 5.03714 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A2L26DMSVUEDP6:39DD6S19JRE5E9RN5D8S5EQQ0TBZEF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.46348, -0.2782, 8.7479 ], "start_rotation": [ 0, 0.98645, 0, -0.16409 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.34785, "euclidean_distance": 2.69201, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.07217, 0.18682, 7.52308 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A3L8LSM7V7KX3T:3X4MXAO0BIRQTIRNGW8L5HVRZR8RWS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.24114, -1.05604, 9.71459 ], "start_rotation": [ 0, 0.84253, 0, 0.53865 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.65067, "euclidean_distance": 5.37038, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.88179, 0.18682, 6.9817 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3VBEN272MM26XB10GG489OEYDSUSG5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.25827, -3.21318, 6.84027 ], "start_rotation": [ 0, 0.62304, 0, 0.78219 ], "object_category": "seating", "info": { "geodesic_distance": 17.71784, "euclidean_distance": 3.4227, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.23575, 0.18682, 6.72384 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3V5Q80FXIZUCY08ERMIIZCCMS6823V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.01419, -3.21318, 7.65566 ], "start_rotation": [ 0, 0.1883, 0, -0.98211 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 15.12708, "euclidean_distance": 3.90553, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.69773, 0.18682, 7.03447 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A272X64FOZFYLB:3PPTZCWALSNUBCHSE43SZVF4N9MZQ8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.0197, -3.21318, 2.22108 ], "start_rotation": [ 0, 0.62522, 0, 0.78044 ], "object_category": "bed", "info": { "geodesic_distance": 22.33156, "euclidean_distance": 6.67887, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.34382, 0.18682, 4.3386 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3APKUC67F9IMW:3GA6AFUKOQRGDQBWA7LPMGIOHSC3H6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.18494, 0.10992, 2.20593 ], "start_rotation": [ 0, 0.71641, 0, 0.69768 ], "object_category": "seating", "info": { "geodesic_distance": 7.38279, "euclidean_distance": 6.04154, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.22375, 0.18682, 6.72931 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3F0BG9B9MRQK0428MJS3LXP79N9Y7U", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.90503, -3.15951, 10.41605 ], "start_rotation": [ 0, 0.98537, 0, 0.17041 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.52986, "euclidean_distance": 4.9218, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.7456, 0.18682, 6.99547 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "04cdd02138664b138f281bb5ad8b957f", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee" ], "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3ZAK8W07I6HP1KIJRJA53X975MX0U5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.22669, -3.21318, 6.70512 ], "start_rotation": [ 0, 0.73264, 0, 0.68062 ], "object_category": "bed", "info": { "geodesic_distance": 18.15613, "euclidean_distance": 3.4412, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.27997, 0.18682, 6.90406 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3PFU4042GIQLE:3EJPLAJKEOJ11UY8ZVPUTQYC4CW6ZR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.73677, 0.18682, 4.12953 ], "start_rotation": [ 0, 0.69835, 0, 0.71576 ], "object_category": "seating", "info": { "geodesic_distance": 4.87311, "euclidean_distance": 3.65406, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.02397, 0.18682, 6.66654 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "bc280058ef514e16860da03ecb6cdb07", [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3TDXMTX3CDXF649YZR18TVVNRV56II", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.95119, -3.21318, 3.42912 ], "start_rotation": [ 0, 0.50416, 0, -0.86361 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 19.45938, "euclidean_distance": 5.62996, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.93877, 0.18682, 6.95354 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2L26DMSVUEDP6:3DUZQ9U6SORPF8RV5B3U9PH9EW2SV8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.2801, -3.21318, 8.14654 ], "start_rotation": [ 0, 0.50137, 0, 0.86523 ], "object_category": "table", "info": { "geodesic_distance": 3.90406, "euclidean_distance": 3.01114, "closest_goal_object_id": 244, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.19213, -3.21318, 6.34637 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A272X64FOZFYLB:3VP0C6EFSIZ12NZPK6Z0LO23RFL6MX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.02361, 0.18682, 7.28638 ], "start_rotation": [ 0, 0.11707, 0, 0.99312 ], "object_category": "toilet", "info": { "geodesic_distance": 5.57455, "euclidean_distance": 4.19765, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.07946, 0.18682, 2.99391 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1ZE52NWZPN85P:3TU5ZICBRF4FRGG55E3FMBI08PF8QA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.22304, 0.18682, 8.63673 ], "start_rotation": [ 0, 0.28305, 0, -0.95911 ], "object_category": "sofa", "info": { "geodesic_distance": 17.32355, "euclidean_distance": 7.9328, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.8108, -3.21318, 3.63236 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "4385dfc7f81c413b86bb06658c1ff5c7", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:382M9COHEJIOSAXDZQ9KOMBB2M7EU6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.63136, 0.18682, 5.41972 ], "start_rotation": [ 0, 0.97257, 0, 0.23261 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.55286, "euclidean_distance": 2.41906, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.88212, 0.18682, 7.0869 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0e45c1af5098415c9bbd3a6ce537c7cb", "path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A19C2SO0IMRZ1L:3VELCLL3GMM0PR6BSDJ6V2RE01W1F2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.75595, 0.18682, 7.44675 ], "start_rotation": [ 0, 0.94535, 0, -0.32607 ], "object_category": "table", "info": { "geodesic_distance": 7.71333, "euclidean_distance": 5.74112, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07953, 0.16595, 3.05516 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3PS7W85Z815SX1R7RA3ORCOYSAQT9O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.032, 0.18682, 3.25159 ], "start_rotation": [ 0, 0.47901, 0, -0.87781 ], "object_category": "towel", "info": { "geodesic_distance": 3.95583, "euclidean_distance": 2.03362, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.52261, 0.18682, 5.30348 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", [ "e6ac6b13b27c41b28df5d51a7e26549d" ], "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3TYCJO2DG3RMH:32N49TQG3ILLFC51OBH3OPN3VDRAV3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.00887, -3.21318, 6.04912 ], "start_rotation": [ 0, 0.94884, 0, 0.31575 ], "object_category": "picture", "info": { "geodesic_distance": 1.55504, "euclidean_distance": 1.31987, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.14502, -3.21318, 5.13218 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3SKEMFQBZ58TGDIAS9JIQP6Q6R9K8R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.91347, 0.18682, 7.13264 ], "start_rotation": [ 0, 0.89343, 0, 0.4492 ], "object_category": "chair", "info": { "geodesic_distance": 2.44813, "euclidean_distance": 2.30543, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.06813, 0.18682, 5.76139 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1R0689JPSQ3OF:3PDJHANYK7JFA9YET9JNTJU7A3C6HY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.17444, -3.21318, 5.18126 ], "start_rotation": [ 0, 0.20891, 0, -0.97794 ], "object_category": "plant", "info": { "geodesic_distance": 2.24559, "euclidean_distance": 2.24493, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.02346, -3.21318, 3.31215 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:36ZN444YTT15VAF2ZNN2AVHECT6IOM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.19622, 0.18682, 10.09676 ], "start_rotation": [ 0, 0.09973, 0, 0.99501 ], "object_category": "sink", "info": { "geodesic_distance": 5.89094, "euclidean_distance": 5.347, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.99825, 0.18682, 5.52779 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3G0WWMR1UXN0UN39BGSY488VDTFQNF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.65344, -3.21318, 7.24304 ], "start_rotation": [ 0, 0.84847, 0, -0.52924 ], "object_category": "sink", "info": { "geodesic_distance": 5.11858, "euclidean_distance": 4.85145, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.18423, -3.21318, 6.66198 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3EJJQNKU9T88WSWYLXML4EL4N3LRHL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.36184, 0.18682, 4.30684 ], "start_rotation": [ 0, 0.5128, 0, 0.85851 ], "object_category": "sink", "info": { "geodesic_distance": 1.21063, "euclidean_distance": 0.97537, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.08265, 0.18682, 5.28206 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A1NSHNH3MNFRGW:3KXIR214I6JXGWRIR0N19H4RPHD42U", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.50573, -0.46556, 9.02488 ], "start_rotation": [ 0, 0.935, 0, -0.35464 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.66788, "euclidean_distance": 2.88556, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.92994, 0.18682, 7.6122 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A21ZK49H9LSSRY:30LSNF239WYRO3QXCPP53IEB7D4I2K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.23306, 0.18682, 9.95618 ], "start_rotation": [ 0, 0.53926, 0, -0.84214 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.1193, "euclidean_distance": 3.57726, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.09514, 0.18682, 6.84061 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2MCG5W6LHSRG9:3VSOLARPKDCNYKTDCVXX9ZK0VNE393", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.17411, 0.18682, 5.72552 ], "start_rotation": [ 0, 0.99247, 0, -0.12246 ], "object_category": "table", "info": { "geodesic_distance": 6.4381, "euclidean_distance": 3.19042, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.9866, 0.18541, 3.10855 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2DDPSXH2X96RF:3TDXMTX3CDXF649YZR18TVVM8S76IT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.98478, 0.18682, 0.14691 ], "start_rotation": [ 0, 0.81597, 0, -0.57809 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.00343, "euclidean_distance": 3.78011, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.11537, 0.18682, 4.01189 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A1R0689JPSQ3OF:3AAPLD8UCEKLC79QPMRG4TMMBSUTHK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.0171, 0.18682, 6.9758 ], "start_rotation": [ 0, 0.35243, 0, 0.93584 ], "object_category": "sofa", "info": { "geodesic_distance": 18.32565, "euclidean_distance": 5.59539, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.74952, -3.21318, 3.69298 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3GWRDHAURRNK6:39JEC7537W498R2Z8PDUUKDQEZWCVA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.08704, -0.21486, 8.48827 ], "start_rotation": [ 0, 0.30855, 0, -0.95121 ], "object_category": "chair", "info": { "geodesic_distance": 6.40819, "euclidean_distance": 5.52464, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.63133, -3.21318, 10.09354 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:3BGYGHDBBZNNDICVNM4DG27UJX322M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.77426, 0.18682, 6.85355 ], "start_rotation": [ 0, 0.97225, 0, -0.23394 ], "object_category": "plant", "info": { "geodesic_distance": 3.44664, "euclidean_distance": 3.08081, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.84131, 0.18682, 9.08839 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da" ], "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A1198W1SPF1R4:33PPO7FECXIERDOD9E9MZ15F8J4DIX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.58864, 0.30275, 0.71818 ], "start_rotation": [ 0, 0.93087, 0, 0.36535 ], "object_category": "table", "info": { "geodesic_distance": 12.15681, "euclidean_distance": 5.20925, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.17155, 0.17848, 3.22623 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3W92K5RLWWKO96TKTFQMGE7GKBEV59", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.43188, -3.21318, 5.48835 ], "start_rotation": [ 0, 0.62919, 0, -0.77725 ], "object_category": "sofa", "info": { "geodesic_distance": 4.84318, "euclidean_distance": 3.81531, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.80622, -3.21318, 3.72069 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3D38UO96N9SB0:3WMOAN2SRD0SZVZQXFM8AV73QARVNL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.3967, -3.21318, 4.49036 ], "start_rotation": [ 0, 0.4505, 0, 0.89278 ], "object_category": "towel", "info": { "geodesic_distance": 6.01232, "euclidean_distance": 4.7915, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.38015, -3.21318, 0.07737 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A31BA1WLSWUSY1:3DUZQ9U6SORPF8RV5B3U9PH808CSVQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.40478, 0.18682, 0.20177 ], "start_rotation": [ 0, 0.98186, 0, 0.1896 ], "object_category": "counter", "info": { "geodesic_distance": 5.8424, "euclidean_distance": 5.42381, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.93464, 0.18682, 5.03094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3F0NFNLOLFJT0:33JKGHPFYEX9985HJNLHNZOQNI7MND", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.15573, 0.34639, 0.66287 ], "start_rotation": [ 0, 0.7125, 0, -0.70167 ], "object_category": "shower", "info": { "geodesic_distance": 12.14188, "euclidean_distance": 9.32297, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.78944, 0.18682, 5.43373 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AQ0YWEW29GSIJ:3Z7EFSHGNBH1CG7U84ECI5ABSXGCXX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.25681, 0.18682, 4.20627 ], "start_rotation": [ 0, 0.90998, 0, -0.41464 ], "object_category": "shower", "info": { "geodesic_distance": 2.86819, "euclidean_distance": 1.90963, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.84192, 0.18682, 5.35111 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3NMQ3019X6YE0:323Q6SJS8KJBT2RPU2MRNP7LHEVHFW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.58565, 0.18682, 0.46404 ], "start_rotation": [ 0, 0.72843, 0, 0.68512 ], "object_category": "sink", "info": { "geodesic_distance": 5.9729, "euclidean_distance": 5.4434, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.04792, 0.18682, 5.17495 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3TPZPLC3M2F8Q79KTKTUVPKF3G7P3C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30468, 0.18682, 8.67751 ], "start_rotation": [ 0, 0.93226, 0, -0.36178 ], "object_category": "sink", "info": { "geodesic_distance": 4.46756, "euclidean_distance": 4.12947, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.9149, 0.18682, 5.49839 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3F90N8YVKJ4I7:3X3OR7WPZ1340J0SD9VJ5PJ6EV8L8I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.07257, -0.01318, 0.86529 ], "start_rotation": [ 0, 0.44307, 0, 0.89648 ], "object_category": "cushion", "info": { "geodesic_distance": 5.30659, "euclidean_distance": 3.73907, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.7954, 0.18682, 4.28973 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3L4D84MIL1VRY4DLDSDC2NZDAMBHJ0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.82345, 0.18682, 6.79826 ], "start_rotation": [ 0, 0.60045, 0, 0.79966 ], "object_category": "bed", "info": { "geodesic_distance": 4.10996, "euclidean_distance": 2.64222, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.81416, 0.18682, 4.14119 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A21ZK49H9LSSRY:3PMBY0YE296BBKPW5O8Y22OU4TGC9O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.66955, -3.21318, 0.052 ], "start_rotation": [ 0, 0.1205, 0, 0.99271 ], "object_category": "table", "info": { "geodesic_distance": 3.3597, "euclidean_distance": 2.42788, "closest_goal_object_id": 187, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.58967, -3.21318, 1.49584 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3T5UAYFKJBVTA:34FNN24DCOC5D0OPYQD6NDBB57EY5I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.12517, -3.21318, 4.20749 ], "start_rotation": [ 0, 0.79461, 0, 0.60713 ], "object_category": "shower", "info": { "geodesic_distance": 19.60312, "euclidean_distance": 5.9464, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.8752, 0.18682, 5.516 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3ON104KXQMZJSCPP5KC8XOKGRCP4W3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.203, -3.21318, 3.24067 ], "start_rotation": [ 0, 0.4809, 0, -0.87677 ], "object_category": "chair", "info": { "geodesic_distance": 2.4114, "euclidean_distance": 1.98949, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72578, -3.21318, 4.51867 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0" ] }, { "episode_id": "ANFWGSQ8BQRZ:39OWYR0EPMUXFXHE42QF9P2OAD8YFL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.12521, -3.21318, 6.79292 ], "start_rotation": [ 0, 0.95352, 0, -0.30134 ], "object_category": "bed", "info": { "geodesic_distance": 15.99922, "euclidean_distance": 4.17628, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.3774, 0.18682, 6.84376 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A16K7X677N4WN6:3MTMREQS4XLYU156ELMZAR6H2Q1AWT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.7168, -1.21318, 10.2775 ], "start_rotation": [ 0, 0.13491, 0, 0.99086 ], "object_category": "plant", "info": { "geodesic_distance": 6.61942, "euclidean_distance": 2.68841, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.80431, 0.18682, 9.22105 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:3WQQ9FUS6CXSNAEGMW6PRMN0JYIB8I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.70304, 0.1161, 2.81438 ], "start_rotation": [ 0, 0.88011, 0, 0.47478 ], "object_category": "bed", "info": { "geodesic_distance": 2.32776, "euclidean_distance": 1.6274, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.83623, 0.18682, 4.0836 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A9K0CV70JWG1W:39K0FND3AJI2PPBSAJGC1T4Q0ACMA7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.31893, -3.21318, 8.23563 ], "start_rotation": [ 0, 0.63089, 0, -0.77587 ], "object_category": "towel", "info": { "geodesic_distance": 10.9827, "euclidean_distance": 9.36826, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.37875, -3.21318, 0.06348 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2MCG5W6LHSRG9:3PB5A5BD0X9KEDH8SD6XEXI34357GF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.90083, 0.18682, 7.20097 ], "start_rotation": [ 0, 0.08551, 0, 0.99634 ], "object_category": "sofa", "info": { "geodesic_distance": 23.21481, "euclidean_distance": 5.33214, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83025, -3.21318, 3.54542 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3O6CYIULEF4I9AJ4KQ3QASIB6POUW9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.2856, -1.41904, 10.26978 ], "start_rotation": [ 0, 0.99912, 0, -0.04198 ], "object_category": "sink", "info": { "geodesic_distance": 3.95941, "euclidean_distance": 3.70292, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.1858, -3.21318, 9.50256 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A1P3HHEXWNLJMP:3SNVL38CI6VVSG8N9LZNSB2AZAPCK9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.11255, 0.18682, 10.0747 ], "start_rotation": [ 0, 0.5845, 0, 0.81139 ], "object_category": "table", "info": { "geodesic_distance": 8.2004, "euclidean_distance": 7.00597, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.16145, 0.16466, 3.09233 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3IAS3U3I0HJH1VCR6FXOHVAXZGWB2N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.86608, 0.18682, 8.97892 ], "start_rotation": [ 0, 0.91142, 0, -0.41147 ], "object_category": "chair", "info": { "geodesic_distance": 4.19296, "euclidean_distance": 3.72351, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.10026, 0.18682, 5.76729 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AIIOT9A7ARQZW:3OS4RQUCRBI12PO3UACV1E4NM7FBFB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.20042, -3.21318, 6.69611 ], "start_rotation": [ 0, 0.63027, 0, -0.77638 ], "object_category": "cushion", "info": { "geodesic_distance": 4.22278, "euclidean_distance": 3.75818, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.82575, -3.21318, 3.33336 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3J2UYBXQQNF4Z9SIV1C2NRVR2ZA06W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.35215, -3.21318, 3.98614 ], "start_rotation": [ 0, 0.96756, 0, 0.25262 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 18.80992, "euclidean_distance": 5.01244, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.94685, 0.18682, 6.94224 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2TUUIV61CR0C7:3WR9XG3T65E42XOOXC4W58L0DB747P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.91231, 0.18682, 7.24748 ], "start_rotation": [ 0, 0.14962, 0, -0.98874 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.94212, "euclidean_distance": 2.97329, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.06136, 0.18682, 4.40606 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ] }, { "episode_id": "A272X64FOZFYLB:3PH3VY7DJN0ZV9DEQD2YRKXQ880WZZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.6974, 0.01091, 1.97227 ], "start_rotation": [ 0, 0.12351, 0, 0.99234 ], "object_category": "bed", "info": { "geodesic_distance": 3.17333, "euclidean_distance": 2.31438, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.74573, 0.18682, 4.07859 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3KGTPGBS6ZOWXULX66EJML2MP982UJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.26682, -3.21318, 1.13947 ], "start_rotation": [ 0, 0.70422, 0, -0.70998 ], "object_category": "counter", "info": { "geodesic_distance": 2.82234, "euclidean_distance": 2.6683, "closest_goal_object_id": 210, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.23348, -3.21318, 0.01027 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:3LWJHTCVCEPO6VQSDS9LW3ZLSDUFQZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.02706, -3.21318, 7.23615 ], "start_rotation": [ 0, 0.96872, 0, 0.24817 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.09458, "euclidean_distance": 7.84509, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.18844, 0.19033, 7.35801 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A9K0CV70JWG1W:3LUY3GC6313QRQA7VWWK86WV47YP7W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.72585, 0.18682, 7.25516 ], "start_rotation": [ 0, 0.7564, 0, 0.65411 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.77577, "euclidean_distance": 2.9443, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.16885, 0.18682, 4.27844 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ] ] }, { "episode_id": "A21ZK49H9LSSRY:3WI0P0II63VRKCRWZ13VDT66SBQDRT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.13027, 0.20331, 2.0212 ], "start_rotation": [ 0, 0.75147, 0, -0.65977 ], "object_category": "chair", "info": { "geodesic_distance": 2.76125, "euclidean_distance": 2.31657, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.39053, 0.18682, 3.44686 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3TYCR1GOTEMJKF1FMZVWI9G9WK7LZS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.12636, 0.18682, 3.78164 ], "start_rotation": [ 0, 0.8455, 0, 0.53397 ], "object_category": "sink", "info": { "geodesic_distance": 2.13809, "euclidean_distance": 1.76753, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.11693, 0.18682, 5.36177 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A2TUUIV61CR0C7:3AQF3RZ55ALVWD78YJVNQYIVB42F6R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.48739, 0.18682, 4.78795 ], "start_rotation": [ 0, 0.71675, 0, -0.69733 ], "object_category": "counter", "info": { "geodesic_distance": 5.08458, "euclidean_distance": 3.12377, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.59212, 0.18682, 5.5257 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A19C2SO0IMRZ1L:30X31N5D65T5NKOXUGCYD23WWD5ASE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.38652, -1.34564, 10.57722 ], "start_rotation": [ 0, 0.58103, 0, -0.81388 ], "object_category": "cushion", "info": { "geodesic_distance": 10.69173, "euclidean_distance": 6.51532, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.61433, 0.18682, 4.21328 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3K4J6M3CXGW2XFF6ZGIHOOKT55YGAQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.46876, 0.18682, 9.14153 ], "start_rotation": [ 0, 0.98212, 0, -0.18825 ], "object_category": "counter", "info": { "geodesic_distance": 4.70328, "euclidean_distance": 4.13957, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.53664, 0.18682, 5.50623 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3RR85PK3AV9TU:33UKMF931BNBHG0LPG85ICPAJHKTTC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.8676, -3.20329, 10.15481 ], "start_rotation": [ 0, 0.94116, 0, -0.33796 ], "object_category": "picture", "info": { "geodesic_distance": 6.43679, "euclidean_distance": 5.8047, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.20493, -3.21318, 5.14575 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A75XDPFNICR3T:39LNWE0K4WZ08FZZV9ZB9193RQLUIL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.60811, 0.10828, 1.92189 ], "start_rotation": [ 0, 0.98841, 0, -0.15184 ], "object_category": "table", "info": { "geodesic_distance": 5.22412, "euclidean_distance": 3.57953, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.21626, 0.17163, 3.18969 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868" ], "0_edge_26_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3R6BYFZZP9F8FSR4Z64DQBVF5BRXFW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.7874, -1.21318, 10.57664 ], "start_rotation": [ 0, 0.63084, 0, 0.77591 ], "object_category": "seating", "info": { "geodesic_distance": 9.32869, "euclidean_distance": 7.07635, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.02509, 0.18682, 6.69311 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55" ], "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "AYYSG3O9FNU15:3AQF3RZ55ALVWD78YJVNQYIUUJDF6D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.55356, 0.24706, 2.88102 ], "start_rotation": [ 0, 0.96599, 0, -0.25857 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.47829, "euclidean_distance": 1.10123, "closest_goal_object_id": 112, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.11035, 0.0317, 1.9905 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef" ] }, { "episode_id": "AIOOOO5OXWXKM:3IXEICO794M5FIP9T30C72XVLL16TE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.84604, 0.18682, 7.01738 ], "start_rotation": [ 0, 0.54715, 0, 0.83703 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.83727, "euclidean_distance": 2.73419, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.1618, 0.18682, 4.34287 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "AZPZDX26SYMFY:3KKG4CDWKK18GGCHC92GJ4C6CFG49I", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.56408, 0.2625, 1.43709 ], "start_rotation": [ 0, 0.99238, 0, 0.12325 ], "object_category": "bed", "info": { "geodesic_distance": 3.03937, "euclidean_distance": 2.84866, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.68744, 0.18682, 4.23919 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WYGZ5XF3YIBZXXJ67PN7G6S1L3KSZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.37473, -3.21318, 1.39165 ], "start_rotation": [ 0, 0.90365, 0, -0.42828 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.44271, "euclidean_distance": 1.99426, "closest_goal_object_id": 223, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.79302, -3.21318, -0.00495 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3LWJHTCVCEPO6VQSDS9LW3ZM88QFQ3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.30001, 0.18682, 2.8181 ], "start_rotation": [ 0, 0.90551, 0, 0.42432 ], "object_category": "counter", "info": { "geodesic_distance": 3.81765, "euclidean_distance": 3.40555, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.86218, 0.18682, 5.05085 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A3NFGEUZAH9V5G:30OG32W0SWEBXKD42PXYARJHUTUEN0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.00765, -1.21318, 10.18768 ], "start_rotation": [ 0, 0.77501, 0, 0.63195 ], "object_category": "plant", "info": { "geodesic_distance": 6.42446, "euclidean_distance": 2.87744, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.86705, 0.18682, 9.04113 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:35LDD5557C7812KEMAT1V77LSF9KMU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.20728, -3.21318, 8.87885 ], "start_rotation": [ 0, 0.09455, 0, 0.99552 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.07336, "euclidean_distance": 4.37309, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.89593, 0.18682, 7.04181 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:3MX2NQ3YCBXGDVYFTUR44Z42GB05XW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.08874, -3.21318, 4.98725 ], "start_rotation": [ 0, 0.50777, 0, 0.86149 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 18.7569, "euclidean_distance": 5.52877, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.86038, 0.18682, 7.1125 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AIOOOO5OXWXKM:37FMASSAYEULCGQTVIIG4BHF2UQBIB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.47091, 0.09791, 1.91772 ], "start_rotation": [ 0, 0.51368, 0, 0.85798 ], "object_category": "chair", "info": { "geodesic_distance": 4.35699, "euclidean_distance": 2.35411, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.29914, 0.15426, 3.07874 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", [ "7d7ba5af47c84c30850af05e203342e5" ], "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da" ], "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A2TUUIV61CR0C7:37W3JXSD68BZQJ39UR0FDDONOWLYWJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.19952, -3.21318, 3.07988 ], "start_rotation": [ 0, 0.15771, 0, -0.98749 ], "object_category": "sink", "info": { "geodesic_distance": 4.53973, "euclidean_distance": 3.13738, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.14417, -3.21318, 0.07834 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2TUUIV61CR0C7:3R9WASFE21JXKNRJ0OSYNWBQCUMZFT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.10472, 0.18682, 7.47156 ], "start_rotation": [ 0, 0.44304, 0, -0.8965 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.21208, "euclidean_distance": 3.23797, "closest_goal_object_id": 4, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.17398, 0.18682, 4.27595 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A1NSHNH3MNFRGW:34S6N1K2ZXMXTU1LGDPPI2C4YHSHL8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.43093, -3.21318, 6.5953 ], "start_rotation": [ 0, 0.45684, 0, 0.88955 ], "object_category": "seating", "info": { "geodesic_distance": 15.80909, "euclidean_distance": 4.13468, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.03245, 0.18682, 6.67082 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1" ], "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1NKBXOTZAI1YK:3FTOP5WARHRGN47PFK6RWV0WO430J9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.18247, -3.21318, -0.2416 ], "start_rotation": [ 0, 0.96083, 0, -0.27715 ], "object_category": "picture", "info": { "geodesic_distance": 4.74209, "euclidean_distance": 4.16432, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.04369, -3.21318, 3.13632 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ] ] }, { "episode_id": "A2J5DN5UMU0A3Z:3BXQMRHWK11M4YPQGOX31UGK8TXMU9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.86386, 0.00017, 1.15671 ], "start_rotation": [ 0, 0.91801, 0, -0.39656 ], "object_category": "plant", "info": { "geodesic_distance": 6.68636, "euclidean_distance": 5.81836, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.37439, 0.18682, 6.89528 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1UURQF07IOXBO:3SBEHTYCWP6HPOJ45AW0CMFGQ6WIYU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.47273, -3.21318, 6.39264 ], "start_rotation": [ 0, 0.99003, 0, -0.14089 ], "object_category": "shower", "info": { "geodesic_distance": 16.71797, "euclidean_distance": 4.87915, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.87933, 0.18682, 5.45052 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", [ "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3HL2LL0LEPZT8:3VAR3R6G1R4C643PQ1BBX6N090D8OM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.39918, 0.18682, 3.11944 ], "start_rotation": [ 0, 0.20109, 0, -0.97957 ], "object_category": "cushion", "info": { "geodesic_distance": 4.75314, "euclidean_distance": 4.51264, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.83916, 0.18682, 4.20219 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A74PT3GRDMEZ:3ZAK8W07I6HP1KIJRJA53X978L50UE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.11891, 0.18682, 7.35535 ], "start_rotation": [ 0, 0.32252, 0, -0.94656 ], "object_category": "chair", "info": { "geodesic_distance": 6.72661, "euclidean_distance": 6.15355, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.13479, 0.18682, 5.67371 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:36H9ULYP64X7K8MFI2PCZ2N0U6QJFU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.08299, -3.21318, 9.74223 ], "start_rotation": [ 0, 0.09814, 0, 0.99517 ], "object_category": "picture", "info": { "geodesic_distance": 5.92374, "euclidean_distance": 5.10611, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16307, -3.21318, 5.00482 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "AZPZDX26SYMFY:32Z9ZLUT1NN5ZF4IT55HAJGZCF3OH9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.36219, 0.18682, 3.45471 ], "start_rotation": [ 0, 0.3847, 0, 0.92304 ], "object_category": "towel", "info": { "geodesic_distance": 3.91623, "euclidean_distance": 1.7699, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.63289, 0.18682, 5.23743 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3TUI152ZZDQXGGWK6TU071VS7SXQ1R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.76433, -3.21318, 1.60464 ], "start_rotation": [ 0, 0.64756, 0, 0.76202 ], "object_category": "sink", "info": { "geodesic_distance": 3.00155, "euclidean_distance": 2.06983, "closest_goal_object_id": 216, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.21581, -3.21318, 0.05172 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3RWE2M8QWJDC6UYAUIYJP2HCJ7O0NF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.02467, -0.86433, 9.35158 ], "start_rotation": [ 0, 0.99902, 0, 0.04433 ], "object_category": "chair", "info": { "geodesic_distance": 5.3295, "euclidean_distance": 4.95327, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.7874, -3.21318, 9.97872 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3SNLUL3WO6Q2YG75GCWO1H1V8PFULP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.58996, 0.18682, 5.59927 ], "start_rotation": [ 0, 0.62736, 0, -0.77873 ], "object_category": "counter", "info": { "geodesic_distance": 4.49828, "euclidean_distance": 3.13035, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.58729, 0.18682, 5.67563 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "AAX9LTAOIBECD:3NQL1CS15TBMBU344HVJRB5AY5AVYG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.16548, 0.18682, 6.71985 ], "start_rotation": [ 0, 0.92263, 0, 0.38568 ], "object_category": "chair", "info": { "geodesic_distance": 2.87054, "euclidean_distance": 2.23332, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.21597, 0.18682, 5.63649 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AU2C0Q45DVGJO:3H7XDTSHKEUZ4SI90LE96DHK0LVWG8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.35195, 0.06887, 1.98443 ], "start_rotation": [ 0, 0.36345, 0, 0.93161 ], "object_category": "seating", "info": { "geodesic_distance": 8.31195, "euclidean_distance": 7.03325, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.16147, 0.18682, 6.70123 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3A9AA95ATYPB4MWO73HNAMIZEHCP5N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.4627, 0.18682, 3.429 ], "start_rotation": [ 0, 0.86248, 0, 0.50609 ], "object_category": "plant", "info": { "geodesic_distance": 4.34254, "euclidean_distance": 3.52708, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.32194, 0.18682, 6.91787 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A272X64FOZFYLB:33JKGHPFYEX9985HJNLHNZOPM6MNM2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.47953, -3.21318, 7.28867 ], "start_rotation": [ 0, 0.86309, 0, -0.50505 ], "object_category": "towel", "info": { "geodesic_distance": 9.98843, "euclidean_distance": 7.16978, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.28926, -3.21318, 0.07843 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AIIOT9A7ARQZW:3DPNQGW4LNILYXAJE2Z4ZUL4JM446G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.34686, 0.22604, 2.69587 ], "start_rotation": [ 0, 0.18502, 0, -0.98273 ], "object_category": "sofa", "info": { "geodesic_distance": 22.06559, "euclidean_distance": 6.33533, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81584, -3.21318, 3.69956 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_26_newN_1", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868" ], "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3BF51CHDTXDKWYCZRK36KIKGVDE0H3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.74141, 0.18682, 4.13757 ], "start_rotation": [ 0, 0.97153, 0, 0.2369 ], "object_category": "plant", "info": { "geodesic_distance": 4.20714, "euclidean_distance": 3.58854, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.26802, 0.18682, 6.74721 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A5WWHKD82I8UE:337RC3OW0752BVW5L26TX33EPPNVL3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.78734, 0.18682, 5.36058 ], "start_rotation": [ 0, 0.91254, 0, 0.40899 ], "object_category": "picture", "info": { "geodesic_distance": 1.62327, "euclidean_distance": 1.42869, "closest_goal_object_id": 161, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.7019, 0.18682, 6.24904 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WZ36BJEV5JBLU64PUHKIIJOGACBTZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.1377, -3.21318, 7.38749 ], "start_rotation": [ 0, 0.93599, 0, -0.35204 ], "object_category": "towel", "info": { "geodesic_distance": 8.91705, "euclidean_distance": 7.6, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.38904, -3.21318, 0.057 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2TUUIV61CR0C7:39PAAFCODO3QU84AUB8KJUDV3TSTVP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.8329, 0.33419, 0.56886 ], "start_rotation": [ 0, 0.99462, 0, -0.10362 ], "object_category": "counter", "info": { "geodesic_distance": 9.96598, "euclidean_distance": 7.33329, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61754, 0.18682, 5.65547 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2MCG5W6LHSRG9:3IAS3U3I0HJH1VCR6FXOHVAYGXWB24", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.57058, -3.21318, 4.62746 ], "start_rotation": [ 0, 0.99983, 0, -0.01839 ], "object_category": "toilet", "info": { "geodesic_distance": 5.07478, "euclidean_distance": 4.6875, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.04938, -3.21318, -0.00758 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32RIADZISU7QLV8GLF270ZHVL5ES49", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.71205, -3.21318, 1.38956 ], "start_rotation": [ 0, 0.47643, 0, 0.87921 ], "object_category": "shower", "info": { "geodesic_distance": 22.52947, "euclidean_distance": 7.67483, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.73788, 0.18682, 5.34919 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1NSHNH3MNFRGW:3DZQRBDBSNI53ZPCL1XOQUPP74J3SY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.16881, 0.18682, 9.34205 ], "start_rotation": [ 0, 0.59914, 0, -0.80064 ], "object_category": "plant", "info": { "geodesic_distance": 2.55457, "euclidean_distance": 2.3957, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.45622, 0.18682, 7.02901 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2MCG5W6LHSRG9:3PXX5PX6LZ166Y7VJUQ3NDTWSLUABG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13238, 0.18682, 5.32451 ], "start_rotation": [ 0, 0.89853, 0, -0.43891 ], "object_category": "toilet", "info": { "geodesic_distance": 2.97711, "euclidean_distance": 2.93248, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.93516, 0.18682, 3.0801 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A272X64FOZFYLB:3FFJ6VRIL3RKSTNJX2LRKULWBPQI0R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.48844, -3.21318, 9.72966 ], "start_rotation": [ 0, 0.34898, 0, -0.93713 ], "object_category": "towel", "info": { "geodesic_distance": 11.33968, "euclidean_distance": 10.02324, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.28057, -3.21318, 0.00014 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2DDPSXH2X96RF:37W3JXSD68BZQJ39UR0FDDONMI9YWD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.07962, 0.18682, 5.57688 ], "start_rotation": [ 0, 0.82805, 0, 0.56065 ], "object_category": "plant", "info": { "geodesic_distance": 2.18494, "euclidean_distance": 1.41991, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22245, 0.18682, 6.73629 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "AOG0PUCLMU0HH:3L4D84MIL1VRY4DLDSDC2NZDAMMJHD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.51345, 0.18682, 8.55518 ], "start_rotation": [ 0, 0.48105, 0, 0.8767 ], "object_category": "chair", "info": { "geodesic_distance": 3.76469, "euclidean_distance": 3.18961, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.15727, 0.18682, 5.75253 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3HL2LL0LEPZT8:3300DTYQT4KW0HQWIHPFELELIO2QE5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.00338, 0.18682, 8.9554 ], "start_rotation": [ 0, 0.99216, 0, 0.12497 ], "object_category": "seating", "info": { "geodesic_distance": 1.95142, "euclidean_distance": 1.72982, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.3044, 0.18682, 7.26837 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3T5UAYFKJBVTA:3STRJBFXOYUCEXAYV7UDHL2E38STKG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.89244, 0.18682, 0.09157 ], "start_rotation": [ 0, 0.27292, 0, 0.96204 ], "object_category": "counter", "info": { "geodesic_distance": 6.04696, "euclidean_distance": 5.31933, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.84533, 0.18682, 5.01546 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3DQQ64TANIO5H5B8344W0MVC18APWP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.89145, 0.18682, 4.33469 ], "start_rotation": [ 0, 0.05353, 0, -0.99857 ], "object_category": "toilet", "info": { "geodesic_distance": 4.71306, "euclidean_distance": 1.96341, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.19067, 0.18682, 5.37534 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "A1NKBXOTZAI1YK:3QILPRALQ7YUOJ3DPMBYIHNVFCN8NQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.19028, -3.21318, 7.30097 ], "start_rotation": [ 0, 0.03892, 0, -0.99924 ], "object_category": "towel", "info": { "geodesic_distance": 8.8548, "euclidean_distance": 7.62074, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.25049, -3.21318, 0.01636 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A31BA1WLSWUSY1:3QHK8ZVMIOLN2HYZGLFTWR976P1LBL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.40208, 0.18682, 3.35902 ], "start_rotation": [ 0, 0.91571, 0, -0.40184 ], "object_category": "sofa", "info": { "geodesic_distance": 20.89684, "euclidean_distance": 4.74195, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.85145, -3.21318, 3.59318 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:3Z7ISHFUH2YO58HWSAMSD4U4T3X8Z3", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.38601, -3.21318, 4.70184 ], "start_rotation": [ 0, 0.88876, 0, -0.45838 ], "object_category": "bed", "info": { "geodesic_distance": 19.82235, "euclidean_distance": 5.78666, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.23954, 0.18682, 4.32568 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3X66WABAJYL2DUGLQ1371G6NZ07G35", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.57257, 0.08985, 2.59129 ], "start_rotation": [ 0, 0.98488, 0, -0.17325 ], "object_category": "bathtub", "info": { "geodesic_distance": 4.65472, "euclidean_distance": 3.67537, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.11443, 0.18682, 5.37538 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A21ZK49H9LSSRY:3R0T90IZ1UFQQUC4JUE8UJAH586GCF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.2122, -3.21318, 9.36263 ], "start_rotation": [ 0, 0.99969, 0, -0.0249 ], "object_category": "seating", "info": { "geodesic_distance": 15.17794, "euclidean_distance": 4.35989, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.20626, 0.18682, 6.7383 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_14_newN_0", "path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3KC26Z78FBOJT:3YW4XOSQKSOP8931N2E5H2SGWVMU13", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.24379, 0.18682, 6.93972 ], "start_rotation": [ 0, 0.17704, 0, 0.9842 ], "object_category": "chair", "info": { "geodesic_distance": 5.8361, "euclidean_distance": 5.19974, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.10573, 0.18682, 5.59705 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37W3JXSD68BZQJ39UR0FDDOO2DXWY7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.63033, 0.18682, 6.80677 ], "start_rotation": [ 0, 0.99845, 0, 0.05571 ], "object_category": "sink", "info": { "geodesic_distance": 1.93067, "euclidean_distance": 1.43264, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.91547, 0.18682, 5.62843 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2TUUIV61CR0C7:3ERMJ6L4D0VK6NDU3G4SR220N4Y7ML", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.0677, 0.18682, 5.24394 ], "start_rotation": [ 0, 0.9095, 0, -0.4157 ], "object_category": "sofa", "info": { "geodesic_distance": 19.19339, "euclidean_distance": 4.79297, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.78418, -3.21318, 3.6561 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "1e61d22315c945378096f3055645d9e1", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "4dcc93d2006646e19f9b2748dcb4f860", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", [ "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2ZZW6KME1FUDU:37QW5D2ZRIPR4WVIXISKHBX16LM8SH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38625, 0.01698, -0.49462 ], "start_rotation": [ 0, 0.17268, 0, 0.98498 ], "object_category": "toilet", "info": { "geodesic_distance": 6.88644, "euclidean_distance": 6.09147, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.13846, 0.18682, 5.46837 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3FDJT1UU76BATVZ8UBCFE5W0N1NK5P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.57611, 0.34493, 7.88103 ], "start_rotation": [ 0, 0.33709, 0, -0.94147 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.73954, "euclidean_distance": 2.55591, "closest_goal_object_id": 74, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.02047, 0.18682, 7.71138 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A1P3HHEXWNLJMP:31QTRG6Q2VG96A68I5MKLJGS9N4YP2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.07903, -3.21318, 10.38693 ], "start_rotation": [ 0, 0.10476, 0, -0.9945 ], "object_category": "cushion", "info": { "geodesic_distance": 9.06751, "euclidean_distance": 8.09079, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.87606, -3.21318, 3.32369 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:34X6J5FLPV14BXCOWI06B1RE49LJQF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.15256, 0.18682, 9.03185 ], "start_rotation": [ 0, 0.12479, 0, -0.99218 ], "object_category": "sink", "info": { "geodesic_distance": 4.83816, "euclidean_distance": 4.49942, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.96814, 0.18682, 5.60173 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A21ZK49H9LSSRY:32N49TQG3ILLFC51OBH3OPN3SPOAVL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.34387, 0.26035, 1.21968 ], "start_rotation": [ 0, 0.90742, 0, 0.42022 ], "object_category": "table", "info": { "geodesic_distance": 11.59742, "euclidean_distance": 4.77088, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.12031, 0.17907, 3.20095 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3KJYX6QCMBEWG585IHUGHOQMI81VJX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.88154, 0.18682, 4.61203 ], "start_rotation": [ 0, 0.28306, 0, -0.9591 ], "object_category": "shower", "info": { "geodesic_distance": 7.50447, "euclidean_distance": 5.78534, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.79787, 0.18682, 5.38629 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_60_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9" ], "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3L8LSM7V7KX3T:37XITHEISYCHFKLIZ58KTNOO60MRCS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.14358, -3.21318, 3.90067 ], "start_rotation": [ 0, 0.4379, 0, 0.89902 ], "object_category": "toilet", "info": { "geodesic_distance": 4.40279, "euclidean_distance": 4.14774, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.15434, -3.21318, -0.06755 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A5WWHKD82I8UE:3EFE17QCRE8KX7WB0MMQUOQ099VSH9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.37993, -3.21318, 6.70455 ], "start_rotation": [ 0, 0.60091, 0, -0.79931 ], "object_category": "shower", "info": { "geodesic_distance": 17.88232, "euclidean_distance": 5.74902, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.68151, 0.18682, 5.52143 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "04cdd02138664b138f281bb5ad8b957f", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOWW3URQNRJ6U:3VD82FOHKSREI7T27DRGZSJJZRECOC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.74297, -3.21318, 0.07198 ], "start_rotation": [ 0, 0.93513, 0, 0.3543 ], "object_category": "shower", "info": { "geodesic_distance": 23.87151, "euclidean_distance": 8.46658, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.83399, 0.18682, 5.53094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AIIOT9A7ARQZW:3L2IS5HSFCLSMGAQSPC3E95KGI2NU6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.26168, 0.18682, 7.9215 ], "start_rotation": [ 0, 0.85581, 0, -0.51729 ], "object_category": "table", "info": { "geodesic_distance": 5.958, "euclidean_distance": 5.10774, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.15831, 0.17869, 3.22028 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "3560fdb7b97c462ab565c8946b77ecef", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3HUTX6F6VWQ1KP10AK2ANFAXK4RO2A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.48847, 0.30919, 8.1287 ], "start_rotation": [ 0, 0.96715, 0, -0.25419 ], "object_category": "shower", "info": { "geodesic_distance": 6.92694, "euclidean_distance": 3.14628, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82949, 0.18682, 5.41824 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A26LOVXF4QZZCO:31Q0U3WYDRINAYR5AULU7AEX21P17M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.84335, 0.18682, 7.93497 ], "start_rotation": [ 0, 0.95597, 0, -0.29347 ], "object_category": "towel", "info": { "geodesic_distance": 4.32536, "euclidean_distance": 2.81887, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.49089, 0.18682, 5.33673 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:34FNN24DCOC5D0OPYQD6NDBBLKW5YD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.33481, 0.18682, 0.89522 ], "start_rotation": [ 0, 0.93528, 0, -0.35392 ], "object_category": "bed", "info": { "geodesic_distance": 5.3103, "euclidean_distance": 4.66688, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.8561, 0.18682, 3.98627 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", [ "0_edge_58_newN_0" ], "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A3RR85PK3AV9TU:3TDXMTX3CDXF649YZR18TVVNOYW6IC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.24993, 0.18682, 5.26408 ], "start_rotation": [ 0, 0.92901, 0, 0.37005 ], "object_category": "cushion", "info": { "geodesic_distance": 3.67254, "euclidean_distance": 1.1258, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.72194, 0.18682, 4.22019 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3DEL4X4EL8OEFJ8Z4WW1FW2UXUOYX1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.4472, 0.18682, 9.54731 ], "start_rotation": [ 0, 0.94189, 0, 0.33592 ], "object_category": "towel", "info": { "geodesic_distance": 6.92357, "euclidean_distance": 5.98441, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.51209, 0.18682, 5.31379 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3H0J7KPSIRZ7H:3MX2NQ3YCBXGDVYFTUR44Z42GIHX5J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.39752, -3.21318, 5.17087 ], "start_rotation": [ 0, 0.99773, 0, -0.06731 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.10839, "euclidean_distance": 7.58251, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.13881, 0.18682, 7.2207 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A74PT3GRDMEZ:35DR22AR5FNDZGBBFB3BP26I5EYX3O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.08527, 0.18682, 2.92783 ], "start_rotation": [ 0, 0.4226, 0, -0.90631 ], "object_category": "towel", "info": { "geodesic_distance": 4.7596, "euclidean_distance": 4.16881, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.48291, 0.18682, 5.24054 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3F0NFNLOLFJT0:3DZQRBDBSNI53ZPCL1XOQUPQAQY3SQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.64295, 0.18682, 7.44426 ], "start_rotation": [ 0, 0.63588, 0, -0.77179 ], "object_category": "shower", "info": { "geodesic_distance": 5.83129, "euclidean_distance": 2.14887, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.90562, 0.18682, 5.48604 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:32AT8R96GNCP2T2V0LTPD3FQ3D9USG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.95112, 0.18682, 8.57103 ], "start_rotation": [ 0, 0.16818, 0, -0.98576 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.67005, "euclidean_distance": 2.13372, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.28809, 0.18682, 7.2626 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A28U7B76HLCS1U:32AT8R96GNCP2T2V0LTPD3FQ3GISUT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.22575, 0.09458, 2.19234 ], "start_rotation": [ 0, 0.56287, 0, 0.82655 ], "object_category": "counter", "info": { "geodesic_distance": 3.33251, "euclidean_distance": 3.12205, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.8854, 0.18682, 4.97288 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2L26DMSVUEDP6:3MAOD8E57SDK3K4LXUNQYG4NR12XN8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.3062, 0.18682, 2.60805 ], "start_rotation": [ 0, 0.28439, 0, -0.95871 ], "object_category": "seating", "info": { "geodesic_distance": 7.65786, "euclidean_distance": 4.03506, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11339, 0.18682, 6.69508 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42" ], "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:37Z929RLGBBA2GN60G3F87TOK36TS0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.93878, 0.18682, 7.02763 ], "start_rotation": [ 0, 0.71152, 0, 0.70267 ], "object_category": "sofa", "info": { "geodesic_distance": 14.9156, "euclidean_distance": 8.35857, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.92711, -3.21318, 3.55639 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da" ], "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A272X64FOZFYLB:35K3O9HUADGZ9S0N41EL2MA8CPKEFZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.68463, 0.18682, 2.74033 ], "start_rotation": [ 0, 0.4609, 0, -0.88745 ], "object_category": "shower", "info": { "geodesic_distance": 4.60926, "euclidean_distance": 4.04634, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.76658, 0.18682, 5.40334 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3BV8HQ2ZZY400MQ0N39VCX73VQ16A0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.80923, -3.21318, 0.07866 ], "start_rotation": [ 0, 0.61764, 0, 0.78646 ], "object_category": "shower", "info": { "geodesic_distance": 24.83411, "euclidean_distance": 9.20108, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.70881, 0.18682, 5.51874 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A19C2SO0IMRZ1L:3KIBXJ1WD7XW155QZQ8ENBWR142KOH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.50391, -3.21318, 1.67512 ], "start_rotation": [ 0, 0.06773, 0, 0.9977 ], "object_category": "shower", "info": { "geodesic_distance": 22.20581, "euclidean_distance": 7.37539, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.91418, 0.18682, 5.53169 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AIOOOO5OXWXKM:3GA6AFUKOQRGDQBWA7LPMGIOHTUH34", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.23306, -3.21318, 5.94147 ], "start_rotation": [ 0, 0.99378, 0, 0.11139 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.17405, "euclidean_distance": 6.86368, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.06272, 0.18682, 7.21755 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_80_newN_0", "path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3RR85PK3AV9TU:32KTQ2V7RFIOK61NID2C5YT6VAO9MA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.0463, -3.21318, 2.92907 ], "start_rotation": [ 0, 0.97795, 0, -0.20884 ], "object_category": "shower", "info": { "geodesic_distance": 21.18402, "euclidean_distance": 7.25232, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67676, 0.18682, 5.41001 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3KMS4QQVK4T2VSSX0NPO0HNCVJDFK8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.14277, 0.18682, 6.83867 ], "start_rotation": [ 0, 0.53031, 0, -0.8478 ], "object_category": "plant", "info": { "geodesic_distance": 3.79772, "euclidean_distance": 3.34825, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.78483, 0.18682, 9.13924 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QEMNNSB2Z2H2T7HQN5P8CF6R60D7C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.23152, 0.18682, 9.29713 ], "start_rotation": [ 0, 0.80607, 0, 0.59182 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.64369, "euclidean_distance": 5.58067, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.18316, 0.18682, 7.09707 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A33VGSEJ44ORMF:3I33IC7ZWH5CIL7Z01XSMKQSYJC2A9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.13256, -3.21318, 4.04249 ], "start_rotation": [ 0, 0.08444, 0, -0.99643 ], "object_category": "bed", "info": { "geodesic_distance": 20.32292, "euclidean_distance": 5.59052, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.27416, 0.18682, 4.39271 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "0_edge_42_newN_1", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "AOMFEAWQHU3D8:36WLNQG781D9WBO7ZZSPJWJND54EB1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.24736, 0.18682, 8.55998 ], "start_rotation": [ 0, 0.07455, 0, 0.99722 ], "object_category": "sofa", "info": { "geodesic_distance": 17.25501, "euclidean_distance": 7.90026, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81425, -3.21318, 3.7489 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", [ "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A39EZ7V9T25RZO:3PWWM24LHU1YZXEK33DEQTKXSIU28H", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.6128, 0.19543, 2.07614 ], "start_rotation": [ 0, 0.83948, 0, -0.5434 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.68417, "euclidean_distance": 9.34536, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.16367, 0.18682, 7.06976 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3E7TUJ2EGEPLGCVA5K39M86CMQW9DG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.10967, 0.18682, 2.6546 ], "start_rotation": [ 0, 0.18588, 0, -0.98257 ], "object_category": "bed", "info": { "geodesic_distance": 3.2825, "euclidean_distance": 3.03281, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.81345, 0.18682, 4.14737 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A3FSDH6HUZPNQ8:39U1BHVTDNU6IZ2RA12E0ZLCPQO3T2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.16388, 0.20804, 1.93906 ], "start_rotation": [ 0, 0.32847, 0, 0.94452 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.30311, "euclidean_distance": 9.0435, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.17508, 0.18682, 7.1113 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3FE2ERCCZZBXCW26CIDMJSIQYC1OPE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.08128, -3.02458, 10.49038 ], "start_rotation": [ 0, 0.99586, 0, 0.09093 ], "object_category": "shower", "info": { "geodesic_distance": 12.27018, "euclidean_distance": 6.23075, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.82825, 0.18682, 5.51506 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", [ "6e136e11116740a6a49af82502f51cee" ], "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a" ], "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3T5UAYFKJBVTA:3B2X28YI3YI5JWVSTH9R78RATA26BX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.64484, -3.21318, 0.07594 ], "start_rotation": [ 0, 0.9992, 0, 0.04 ], "object_category": "shower", "info": { "geodesic_distance": 25.66506, "euclidean_distance": 9.82366, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.84831, 0.18682, 5.40159 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3137ONMDKI85NSWIFLK3K7AKQEJGEW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.021, 0.18682, 2.39617 ], "start_rotation": [ 0, 0.17957, 0, -0.98374 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.89161, "euclidean_distance": 4.65265, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.24332, 0.18682, 4.35425 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOMFEAWQHU3D8:3FDJT1UU76BATVZ8UBCFE5W0N5L5KG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.77413, 0.18682, -0.82451 ], "start_rotation": [ 0, 0.61247, 0, 0.79049 ], "object_category": "shower", "info": { "geodesic_distance": 8.57318, "euclidean_distance": 7.32777, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.74472, 0.18682, 5.3808 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2ZZW6KME1FUDU:3I0BTBYZAZO6IT2O1K7U6IFK0YFY0J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.84598, -2.48457, 10.07558 ], "start_rotation": [ 0, 0.76011, 0, 0.64979 ], "object_category": "toilet", "info": { "geodesic_distance": 5.8779, "euclidean_distance": 4.97606, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.42982, 0.18682, 6.89285 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3COPXFW7XDFEM5HREQLTCB1HB8EKPC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.05406, -0.24867, 8.51965 ], "start_rotation": [ 0, 0.68325, 0, -0.73018 ], "object_category": "counter", "info": { "geodesic_distance": 3.16394, "euclidean_distance": 2.3639, "closest_goal_object_id": 83, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.83909, 0.18682, 7.60656 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7" ], "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3YDGXNSEO1X82BT77HW2J8HVP7G848", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.16684, -3.21318, -0.12994 ], "start_rotation": [ 0, 0.951, 0, 0.30918 ], "object_category": "bed", "info": { "geodesic_distance": 24.4562, "euclidean_distance": 7.22395, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.40835, 0.18682, 4.40104 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3RRCEFRB7OFR49REATGCAA7W0EFB4T", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.98593, 0.20641, 1.98623 ], "start_rotation": [ 0, 0.05232, 0, 0.99863 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.13652, "euclidean_distance": 2.14482, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.08555, 0.18682, 4.0193 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3C8HJ7UOP9X3QXJ0MBWBIMVYWT6ZMP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.69194, 0.18682, 5.23392 ], "start_rotation": [ 0, 0.64211, 0, 0.76661 ], "object_category": "seating", "info": { "geodesic_distance": 3.79978, "euclidean_distance": 2.9661, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.0434, 0.18682, 6.75044 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3CP1TO84PV4FCFVI556BE9A662L257", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.98889, 0.18245, 1.78952 ], "start_rotation": [ 0, 0.37846, 0, 0.92562 ], "object_category": "chair", "info": { "geodesic_distance": 5.62057, "euclidean_distance": 3.81088, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.33765, 0.15744, 3.1085 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "bf86bc749f794739a74bac109ec2f4ef", "path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:3EJPLAJKEOJ11UY8ZVPUTQYD7X6Z65", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.11778, 0.18682, 6.77004 ], "start_rotation": [ 0, 0.868, 0, -0.49657 ], "object_category": "sofa", "info": { "geodesic_distance": 20.23568, "euclidean_distance": 4.7456, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.82936, -3.21318, 3.5771 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da" ], "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3NL0RFNU0HQSXCV8G6T59DQM7XJ4KZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.73177, 0.18682, 1.97939 ], "start_rotation": [ 0, 0.85674, 0, 0.51576 ], "object_category": "table", "info": { "geodesic_distance": 10.67621, "euclidean_distance": 3.93116, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.10319, 0.17369, 3.14094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A272X64FOZFYLB:374TNBHA8DYU6M7NII19LO62EKSQYP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.31605, -3.21318, 0.12116 ], "start_rotation": [ 0, 0.17557, 0, -0.98447 ], "object_category": "shower", "info": { "geodesic_distance": 25.33482, "euclidean_distance": 9.55012, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67445, 0.18682, 5.49851 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AZPZDX26SYMFY:3W2LOLRXLDIZYIX6RIPIH61WFJKKRB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.10469, -3.21318, 1.0738 ], "start_rotation": [ 0, 0.74861, 0, -0.66301 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.22128, "euclidean_distance": 2.03301, "closest_goal_object_id": 223, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.83912, -3.21318, 0.08244 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A3L8LSM7V7KX3T:3OJSZ2ATDUZMYGSOBHN6A0RDYOR571", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.73587, 0.18682, 6.41806 ], "start_rotation": [ 0, 0.89797, 0, 0.44005 ], "object_category": "shower", "info": { "geodesic_distance": 2.72956, "euclidean_distance": 2.31872, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.70318, 0.18682, 5.36736 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_34_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:31LVTDXBL9DAIOFOCI1JW6EB4OQLRQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.36155, 0.18682, 6.99164 ], "start_rotation": [ 0, 0.92694, 0, 0.3752 ], "object_category": "table", "info": { "geodesic_distance": 6.2067, "euclidean_distance": 5.10267, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.02755, 0.17187, 3.06297 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3C7COPV48I37D:378XPAWRUEGGT6L1P4IK90X84NLIA7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.38238, -3.21318, 6.41816 ], "start_rotation": [ 0, 0.59019, 0, 0.80726 ], "object_category": "sofa", "info": { "geodesic_distance": 4.6615, "euclidean_distance": 4.3097, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.7555, -3.21318, 3.68059 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A21ZK49H9LSSRY:3QRYMNZ7F0KDM3V1SKMT9DJIU7GTN9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.53373, 0.30561, 0.43129 ], "start_rotation": [ 0, 0.97551, 0, -0.21996 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.78931, "euclidean_distance": 10.24908, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.37787, 0.18682, 7.05001 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1ZE52NWZPN85P:3U4J9857OGEONW9XCREJDMR5A17B72", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.64096, 0.18682, 2.2292 ], "start_rotation": [ 0, 0.54892, 0, -0.83588 ], "object_category": "cushion", "info": { "geodesic_distance": 4.82327, "euclidean_distance": 4.58133, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.71099, 0.18682, 4.28832 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A3T5UAYFKJBVTA:3PJ71Z61R65ROHFYPRJEL652JF291R", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.49497, 0.05346, 2.26388 ], "start_rotation": [ 0, 0.03315, 0, 0.99945 ], "object_category": "plant", "info": { "geodesic_distance": 5.50839, "euclidean_distance": 4.65187, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.32885, 0.18682, 6.83608 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "c51b92525949496b94fdde3b4be91ede", [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A7XL1V3G7C2VV:3HQUKB7LNHHV7YIVPSARQAJXJCDHHL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.34235, 0.22361, 7.38 ], "start_rotation": [ 0, 0.99169, 0, -0.12865 ], "object_category": "sink", "info": { "geodesic_distance": 4.69579, "euclidean_distance": 3.83849, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.84574, 0.18682, 5.63999 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WAKVUDHUYJ3JVI3CIVEICJUD5MU7S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.92823, -1.67895, 10.16837 ], "start_rotation": [ 0, 1, 0, 0.00046 ], "object_category": "cushion", "info": { "geodesic_distance": 10.95924, "euclidean_distance": 6.1849, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.63967, 0.18682, 4.2276 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "d9d2484fd1b44448b04b6eadf278d9db", "path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:3S06PH7KST73R7SF17OG72OSAWRD1E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.49933, 0.09848, 2.65304 ], "start_rotation": [ 0, 0.92783, 0, -0.373 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.88009, "euclidean_distance": 3.22254, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.2823, 0.18682, 4.35032 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "3a4c65b97ebb4b4fb888a262586c3fa7", "6ffda5b4b3394a4c8f79e157a2d3682d", [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3MMN5BL1W17254C71412ELQKI3RM3C", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.05973, 0.18682, 0.16176 ], "start_rotation": [ 0, 0.5638, 0, 0.82591 ], "object_category": "sofa", "info": { "geodesic_distance": 26.93405, "euclidean_distance": 4.98625, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.77782, -3.21318, 3.57021 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "AJQGWGESKQT4Y:382M9COHEJIOSAXDZQ9KOMBB2LCUEP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.49852, -3.21318, 6.64253 ], "start_rotation": [ 0, 0.8538, 0, 0.5206 ], "object_category": "towel", "info": { "geodesic_distance": 9.71354, "euclidean_distance": 8.1337, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.42229, -3.21318, 0.13244 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AZPZDX26SYMFY:3MH9DQ757YFMCOT45LZ8OPWNF5DUG0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.08144, -3.21318, -0.01131 ], "start_rotation": [ 0, 0.94048, 0, -0.33984 ], "object_category": "seating", "info": { "geodesic_distance": 24.52524, "euclidean_distance": 7.4687, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.17488, 0.18682, 6.70267 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:36WLNQG781D9WBO7ZZSPJWJNA7ZBEU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.19188, 0.18682, 9.96696 ], "start_rotation": [ 0, 0.90353, 0, -0.42851 ], "object_category": "counter", "info": { "geodesic_distance": 5.53171, "euclidean_distance": 4.99578, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.59144, 0.18682, 5.64773 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3F0BG9B9MRQK0428MJS3LXP7CQJY7D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.95211, 0.18682, 7.2725 ], "start_rotation": [ 0, 0.99865, 0, 0.05194 ], "object_category": "counter", "info": { "geodesic_distance": 2.5761, "euclidean_distance": 2.33733, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.61576, 0.18682, 5.60354 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "41f833ed92c0489bb85a911668189278" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A2TUUIV61CR0C7:3VBEN272MM26XB10GG489OEZR5WSGD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.04267, 0.18682, 7.35054 ], "start_rotation": [ 0, 0.53406, 0, -0.84545 ], "object_category": "chair", "info": { "geodesic_distance": 5.65482, "euclidean_distance": 5.12685, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.18525, 0.18682, 5.70913 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A35CL66BEUSJ5Z:39O5D9O87VVPWI0GOF7OBPL840N3CD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.15227, 0.03401, -0.59923 ], "start_rotation": [ 0, 0.71023, 0, 0.70397 ], "object_category": "bed", "info": { "geodesic_distance": 5.77471, "euclidean_distance": 4.88044, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.88674, 0.18682, 4.08562 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d" ] }, { "episode_id": "A75XDPFNICR3T:3CP1TO84PV4FCFVI556BE9A6399256", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.71707, 0.18682, 4.74641 ], "start_rotation": [ 0, 0.44502, 0, 0.89552 ], "object_category": "shower", "info": { "geodesic_distance": 7.29562, "euclidean_distance": 5.6042, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.88707, 0.18682, 5.46841 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2OFN0A5CPLH57:3QY5DC2MXTNGYOX9U1TQ64WBBMMUFZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.44033, -3.21318, 9.86271 ], "start_rotation": [ 0, 0.91778, 0, 0.3971 ], "object_category": "picture", "info": { "geodesic_distance": 6.0527, "euclidean_distance": 5.35597, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.07346, -3.21318, 5.07642 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", [ "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "AKYXQY5IP7S0Z:378XPAWRUEGGT6L1P4IK90X8477AIP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.91347, 0.18682, 7.13264 ], "start_rotation": [ 0, 0.89343, 0, 0.4492 ], "object_category": "chair", "info": { "geodesic_distance": 2.44813, "euclidean_distance": 2.30543, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.06813, 0.18682, 5.76139 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3WMOAN2SRD0SZVZQXFM8AV72D4KVNN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.89746, 0.18682, -0.63253 ], "start_rotation": [ 0, 0.21056, 0, -0.97758 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.84592, "euclidean_distance": 6.59376, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.16847, 0.18682, 4.38645 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2L26DMSVUEDP6:3VA45EW49PQUV4J4RG2WIW0SSQ6O16", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.95291, -3.21318, 6.98471 ], "start_rotation": [ 0, 0.11761, 0, 0.99306 ], "object_category": "towel", "info": { "geodesic_distance": 8.56769, "euclidean_distance": 7.0077, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.42343, -3.21318, 0.01002 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "bc280058ef514e16860da03ecb6cdb07", "path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "27e1974cf8af461e90d0f5124a665654", "d20808518c8d4844bb76a2e0a7b98ba4", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", [ "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654" ], "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3NG53N1RLXMUR4FQ51OQM6SQFR68P4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.08821, 0.18682, 3.73233 ], "start_rotation": [ 0, 0.30708, 0, -0.95168 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.3534, "euclidean_distance": 1.30802, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.88182, 0.18682, 4.27535 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A2GQH4SWIOFH2L:3TEM0PF1Q703KI7X5OKGTX5JMPW0DY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.42315, 0.28724, 2.6504 ], "start_rotation": [ 0, 0.68975, 0, 0.72405 ], "object_category": "sofa", "info": { "geodesic_distance": 22.13714, "euclidean_distance": 6.43835, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81921, -3.21318, 3.6843 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AOMFEAWQHU3D8:3I33IC7ZWH5CIL7Z01XSMKQRHY6A2M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.64595, -3.21318, 7.87367 ], "start_rotation": [ 0, 0.72024, 0, -0.69373 ], "object_category": "chair", "info": { "geodesic_distance": 1.69144, "euclidean_distance": 1.59336, "closest_goal_object_id": 294, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.82152, -3.21318, 6.50927 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A7XL1V3G7C2VV:3ZOTGHDK5KEUPOIY4ZHGEXN049ZOSS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.40189, 0.18682, 7.40725 ], "start_rotation": [ 0, 0.97594, 0, 0.21804 ], "object_category": "sink", "info": { "geodesic_distance": 2.83658, "euclidean_distance": 2.355, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90702, 0.18682, 5.53503 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_49_newN_0", "path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AOMFEAWQHU3D8:3TR2532VIRXB1FT4H9M85WAN1DPJ65", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.98912, -3.21318, 6.47769 ], "start_rotation": [ 0, 0.95431, 0, 0.29881 ], "object_category": "plant", "info": { "geodesic_distance": 4.65385, "euclidean_distance": 4.4139, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.02365, -3.21318, 3.28825 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3YWRV122CU27J9NMMNNKWCFPOUIU8F", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.36261, 0.18682, 9.29063 ], "start_rotation": [ 0, 0.10982, 0, -0.99395 ], "object_category": "sofa", "info": { "geodesic_distance": 21.93619, "euclidean_distance": 6.98809, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.85148, -3.21318, 3.52689 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AIIOT9A7ARQZW:34T446B1C2HTFQ1J5SP59RN11LA0CG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.21297, -0.179, 8.49667 ], "start_rotation": [ 0, 0.21886, 0, -0.97576 ], "object_category": "chair", "info": { "geodesic_distance": 6.44119, "euclidean_distance": 5.64152, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.688, -3.21318, 10.10143 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2OFN0A5CPLH57:3XCC1ODXDNEL9LV14N9FDSD4X4DQRL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.31378, 0.18682, 9.70696 ], "start_rotation": [ 0, 1, 0, -0.00083 ], "object_category": "towel", "info": { "geodesic_distance": 7.31721, "euclidean_distance": 5.55193, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.63719, 0.18682, 5.27974 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3T5UAYFKJBVTA:30H4UDGLT4L9CTHUZ2Y9ROTKMP9PMU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.76746, -3.21318, 10.57503 ], "start_rotation": [ 0, 0.98178, 0, 0.19001 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.59201, "euclidean_distance": 4.9449, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.72645, 0.18682, 7.02668 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A5WWHKD82I8UE:351SEKWQS2K0NWE4UT7ERUCWPORMDH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.45548, 0.18682, 0.86843 ], "start_rotation": [ 0, 0.43624, 0, 0.89983 ], "object_category": "sink", "info": { "geodesic_distance": 5.5586, "euclidean_distance": 5.15765, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.02525, 0.18682, 5.29976 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_58_newN_0", "433a39089bf94c7994e39d5e7115cd02", [ "0_edge_58_newN_0" ], "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A2TUUIV61CR0C7:308Q0PEVBAG2ONBWXY4KD5MO0HB9IH", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.99572, 0.18682, 2.6875 ], "start_rotation": [ 0, 0.99772, 0, 0.06746 ], "object_category": "plant", "info": { "geodesic_distance": 5.10845, "euclidean_distance": 4.1278, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.24419, 0.18682, 6.79054 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A2ZZW6KME1FUDU:3EJPLAJKEOJ11UY8ZVPUTQYDJVY6ZC", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.19763, -3.21318, 5.15104 ], "start_rotation": [ 0, 0.94358, 0, 0.33114 ], "object_category": "toilet", "info": { "geodesic_distance": 5.75024, "euclidean_distance": 5.16482, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.21965, -3.21318, -0.06144 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3RR85PK3AV9TU:3907X2AHF28J5PD1PKFPCFFNU892PP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.10436, -3.21318, 5.97266 ], "start_rotation": [ 0, 0.96519, 0, -0.26154 ], "object_category": "cushion", "info": { "geodesic_distance": 5.38524, "euclidean_distance": 4.81029, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.83445, -3.21318, 3.40284 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A3RR85PK3AV9TU:3AMYWKA6YDPP2QK1XMEDDSR902E6OG", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.04127, 0.18682, 4.43471 ], "start_rotation": [ 0, 0.95344, 0, -0.30158 ], "object_category": "chair", "info": { "geodesic_distance": 4.38306, "euclidean_distance": 3.95613, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.27777, 0.13605, 2.89747 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "AD1ILDUXZHASF:3VHHR074H5K005V9343DRPNB3C37LK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.29412, 0.18682, 1.39605 ], "start_rotation": [ 0, 0.31987, 0, 0.94746 ], "object_category": "sofa", "info": { "geodesic_distance": 23.78928, "euclidean_distance": 4.23139, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.76671, -3.21318, 3.74799 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3NKQQ8O3908J04JD3VY0I4TQZLIUDO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.04975, 0.18682, 4.20015 ], "start_rotation": [ 0, 0.73601, 0, 0.67697 ], "object_category": "sofa", "info": { "geodesic_distance": 20.15681, "euclidean_distance": 4.5344, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.74569, -3.21318, 3.6236 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2KOR4003SVNC5:3TK8OJTYM3OS2GB3DUZ0EKCYR0IPVO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.27184, 0.18682, 7.22365 ], "start_rotation": [ 0, 0.87296, 0, 0.4878 ], "object_category": "chair", "info": { "geodesic_distance": 2.8172, "euclidean_distance": 2.64289, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.19497, 0.18682, 5.79879 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3R6BYFZZP9F8FSR4Z64DQBVERNRXF4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.60627, 0.21665, 1.87428 ], "start_rotation": [ 0, 0.99046, 0, 0.1378 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.79472, "euclidean_distance": 2.12062, "closest_goal_object_id": 39, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.04539, 0.18682, 4.00793 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A2TUUIV61CR0C7:3VBEN272MM26XB10GG489OEZR4YGS1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.48898, -3.21318, 10.44415 ], "start_rotation": [ 0, 0.23916, 0, 0.97098 ], "object_category": "picture", "info": { "geodesic_distance": 6.02917, "euclidean_distance": 5.60292, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.10521, -3.21318, 5.09388 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A1R0689JPSQ3OF:3MAOD8E57SDK3K4LXUNQYG4OAZTNX6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.58107, 0.18682, 4.2016 ], "start_rotation": [ 0, 0.42707, 0, -0.90422 ], "object_category": "counter", "info": { "geodesic_distance": 1.14691, "euclidean_distance": 1.0627, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90147, 0.18682, 5.04089 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "91c5afdf381d439380d3ca8d6eb27b03", "path": [ "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03" ], "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", [ "0e45c1af5098415c9bbd3a6ce537c7cb" ] ] }, { "episode_id": "A2TUUIV61CR0C7:39PAAFCODO3QU84AUB8KJUDVG26VT0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.58686, -3.21318, 0.11581 ], "start_rotation": [ 0, 0.94226, 0, -0.3349 ], "object_category": "picture", "info": { "geodesic_distance": 5.0711, "euclidean_distance": 4.11378, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08139, -3.21318, 3.14663 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "aff31ea76e864cbfa280a1d82b5e35d8", "path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A2Q6L9LKSNU7EB:31T4R4OBOUJ7X113QRAEO6XO6A2C7X", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.41177, 0.18682, 1.39459 ], "start_rotation": [ 0, 0.52302, 0, 0.85232 ], "object_category": "table", "info": { "geodesic_distance": 11.22651, "euclidean_distance": 3.85185, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.1609, 0.17673, 3.2037 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3H0J7KPSIRZ7H:3U4J9857OGEONW9XCREJDMR6OLG7BR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.61084, -3.21318, 5.5502 ], "start_rotation": [ 0, 0.04181, 0, -0.99913 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.19345, "euclidean_distance": 5.13198, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.08125, 0.18682, 7.33084 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_60_newN_0", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3RANCT1ZVHKQL7LTPZ7UNE5QZSYUBW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.27164, 0.18682, 3.06463 ], "start_rotation": [ 0, 0.63083, 0, -0.77592 ], "object_category": "counter", "info": { "geodesic_distance": 2.81663, "euclidean_distance": 2.54274, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.96866, 0.18682, 4.95955 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_26_newN_1", "path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "AOMFEAWQHU3D8:39ZSFO5CAAZW3QJ5DRKBL2O34T2UJ1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.78775, -3.21318, 10.1448 ], "start_rotation": [ 0, 0.9892, 0, 0.14656 ], "object_category": "picture", "info": { "geodesic_distance": 6.1675, "euclidean_distance": 5.39041, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19987, -3.21318, 4.95486 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_74_newN_0", "path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "AIOOOO5OXWXKM:3HUTX6F6VWQ1KP10AK2ANFAXKN7O2S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.09103, 0.2115, 1.90109 ], "start_rotation": [ 0, 0.07388, 0, 0.99727 ], "object_category": "toilet", "info": { "geodesic_distance": 1.25831, "euclidean_distance": 1.01005, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.84955, 0.18682, 2.90094 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637" ] ] }, { "episode_id": "AZPZDX26SYMFY:3NL0RFNU0HQSXCV8G6T59DQMN9YK4Y", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.678, -3.21318, 6.00291 ], "start_rotation": [ 0, 0.82644, 0, 0.56303 ], "object_category": "cushion", "info": { "geodesic_distance": 3.46857, "euclidean_distance": 2.9246, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.75874, -3.21318, 3.3219 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3137ONMDKI85NSWIFLK3K7AKQK4EGR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.44812, 0.19262, 2.09655 ], "start_rotation": [ 0, 0.51555, 0, -0.85686 ], "object_category": "counter", "info": { "geodesic_distance": 8.68086, "euclidean_distance": 6.07128, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.54195, 0.18682, 5.51838 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "fea557b2ef0e46929f85f0bfd71f9bdc", "path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "AEWGY34WUIA32:392CY0QWG3U1RH5KG38TWXB9RRC4IE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.13479, 0.17061, -0.63867 ], "start_rotation": [ 0, 0.95187, 0, -0.30649 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.33403, "euclidean_distance": 3.99988, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.3931, 0.16071, 3.14024 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "A13WYZ8AXD6ODX:3DQQ64TANIO5H5B8344W0MVC19AWPY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.10528, -3.21318, 8.22688 ], "start_rotation": [ 0, 0.71531, 0, 0.69881 ], "object_category": "sink", "info": { "geodesic_distance": 3.64274, "euclidean_distance": 2.54574, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.22892, -3.21318, 9.32224 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A2TUUIV61CR0C7:37TRT2X24SUH7RAZD03GGCWFIDBBJU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.27091, -3.21318, 4.21243 ], "start_rotation": [ 0, 0.02658, 0, -0.99965 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.83516, "euclidean_distance": 7.80031, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.15654, 0.18784, 7.38258 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A36QGCT3MMXC4Q:35DR22AR5FNDZGBBFB3BP26I5IPX3N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.11429, 0.18682, 4.26683 ], "start_rotation": [ 0, 0.73397, 0, 0.67918 ], "object_category": "seating", "info": { "geodesic_distance": 4.67275, "euclidean_distance": 3.12419, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.06382, 0.18682, 6.6246 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:39OWYR0EPMUXFXHE42QF9P2OAD6FY0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.51865, -3.21318, 5.96433 ], "start_rotation": [ 0, 0.60002, 0, 0.79998 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 16.88484, "euclidean_distance": 4.2326, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.79488, 0.18682, 7.07131 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:31LVTDXBL9DAIOFOCI1JW6EAN7URLJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.33913, 0.18682, -0.03666 ], "start_rotation": [ 0, 0.49852, 0, -0.86688 ], "object_category": "cushion", "info": { "geodesic_distance": 7.60878, "euclidean_distance": 6.12951, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.68623, 0.18682, 4.23049 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3ERMJ6L4D0VK6NDU3G4SR2200D47MM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.60744, 0.08836, 0.73008 ], "start_rotation": [ 0, 0.99206, 0, -0.12574 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.79406, "euclidean_distance": 4.45786, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.20323, 0.18682, 4.39994 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3DIP6YHAPEVQUDQ0WN8FSUTMPNY8E7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.18531, 0.18682, 5.0718 ], "start_rotation": [ 0, 0.47109, 0, 0.88209 ], "object_category": "shower", "info": { "geodesic_distance": 6.76828, "euclidean_distance": 5.0423, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.80356, 0.18682, 5.43488 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "57bdea1f5113402d9b4a65450e030424", "path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3180JW2OT6FFIBTQCQC3DQWN5CTJ5S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.079, -3.21318, 8.334 ], "start_rotation": [ 0, 0.73301, 0, -0.68021 ], "object_category": "towel", "info": { "geodesic_distance": 9.86532, "euclidean_distance": 8.52514, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.4379, -3.21318, 0.10328 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3T5UAYFKJBVTA:34HJIJKLP7Z6DNPKFA7CBM1337YV4O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.33177, 0.18682, 4.29953 ], "start_rotation": [ 0, 0.61858, 0, -0.78572 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.77166, "euclidean_distance": 8.12094, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.33978, 0.18682, 6.95358 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9" ], "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1P3HHEXWNLJMP:308XBLVESK7Y5FTCL5CPI3I6CGXRBM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.45714, -3.21318, 4.47042 ], "start_rotation": [ 0, 0.08206, 0, 0.99663 ], "object_category": "shower", "info": { "geodesic_distance": 19.54745, "euclidean_distance": 6.3725, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.92167, 0.18682, 5.42729 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "0_edge_44_newN_0", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "04cdd02138664b138f281bb5ad8b957f", "0_edge_60_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "0_edge_34_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2MCG5W6LHSRG9:3NLZY2D53RSA6N0OZ3CJRG468Y0LQT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.84242, -1.21318, 10.31102 ], "start_rotation": [ 0, 0.99741, 0, 0.07189 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.31326, "euclidean_distance": 5.42912, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.75205, 0.18682, 6.98254 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A19C2SO0IMRZ1L:3C6FJU71TSWMYFE4ZRLEVP3RGNJYUM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.32108, 0.18682, 7.44992 ], "start_rotation": [ 0, 0.86815, 0, 0.4963 ], "object_category": "towel", "info": { "geodesic_distance": 5.67166, "euclidean_distance": 5.38107, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.61752, 0.18682, 5.27161 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A19C2SO0IMRZ1L:3Q5ZZ9ZEVQIQYUX7LMFCO0N9P9858J", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.73562, -3.21318, 5.55572 ], "start_rotation": [ 0, 0.6562, 0, -0.75458 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.20569, "euclidean_distance": 5.04751, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.07615, 0.18682, 7.24635 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "acc9d5c4eaa8426cb12d58d14e47c6f6", "path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1R0689JPSQ3OF:3R08VXYT7EYGBZ787IAF004RYG47W1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.16692, 0.18682, 5.2184 ], "start_rotation": [ 0, 0.90805, 0, -0.41887 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.97552, "euclidean_distance": 1.80663, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.95671, 0.18682, 7.04312 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AQ0YWEW29GSIJ:3PXX5PX6LZ166Y7VJUQ3NDTWPR4BA0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.02687, -1.21318, 9.95385 ], "start_rotation": [ 0, 0.33226, 0, -0.94319 ], "object_category": "plant", "info": { "geodesic_distance": 6.22549, "euclidean_distance": 2.81721, "closest_goal_object_id": 77, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.86234, 0.18682, 9.06908 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55" ], "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3XLBSAQ9Z6FK5UCDI5UMZ4Y9FOY7ZT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.32103, 0.18682, 7.46587 ], "start_rotation": [ 0, 0.08326, 0, 0.99653 ], "object_category": "cushion", "info": { "geodesic_distance": 5.5923, "euclidean_distance": 3.226, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.66361, 0.18682, 4.17037 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "5062afb29ed34159a1e05c60e6cf6585", "path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "91c5afdf381d439380d3ca8d6eb27b03", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A19C2SO0IMRZ1L:3FQ5JJ512NREJK5EYB818MWMBZLKN0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.9946, 0.041, -0.896 ], "start_rotation": [ 0, 0.90803, 0, -0.41891 ], "object_category": "sofa", "info": { "geodesic_distance": 25.19676, "euclidean_distance": 6.26905, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.83134, -3.21318, 3.76053 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "6ffda5b4b3394a4c8f79e157a2d3682d", "path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", [ "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", [ "0_edge_42_newN_1" ], "0_edge_41_newN_0" ] }, { "episode_id": "AREQ43Q0T8ENT:3E337GFOLBB9HY9V8KNMAU4TRWLGNP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.5391, -0.38743, 8.93275 ], "start_rotation": [ 0, 0.96171, 0, 0.27406 ], "object_category": "counter", "info": { "geodesic_distance": 3.71983, "euclidean_distance": 2.98449, "closest_goal_object_id": 83, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.86984, 0.18682, 7.68975 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A2MCG5W6LHSRG9:3JBT3HLQFA59B0GDERO3ZQPUIFSZPD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.37599, 0.18682, 4.41327 ], "start_rotation": [ 0, 0.95372, 0, -0.30071 ], "object_category": "sofa", "info": { "geodesic_distance": 22.08536, "euclidean_distance": 7.17612, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.74748, -3.21318, 3.72802 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A23LXQ5ZX2YONR:3C8HJ7UOP9X3QXJ0MBWBIMVZAC6ZM7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.60503, -3.21318, 7.43345 ], "start_rotation": [ 0, 0.05364, 0, -0.99856 ], "object_category": "seating", "info": { "geodesic_distance": 19.36172, "euclidean_distance": 4.40412, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.02432, 0.18682, 6.73606 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0" ], "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "ADEMAGRRRGSPT:3TR2532VIRXB1FT4H9M85WAML376J8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.16952, 0.18682, 2.3512 ], "start_rotation": [ 0, 0.0825, 0, -0.99659 ], "object_category": "towel", "info": { "geodesic_distance": 5.82203, "euclidean_distance": 5.25084, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.56269, 0.18682, 5.22184 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "7d7ba5af47c84c30850af05e203342e5", [ "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3V8LIMUUJWUTL:3TXWC2NHN1TRI1ES2AYYH7SB9GM9SK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.9325, 0.18682, 5.67367 ], "start_rotation": [ 0, 0.00633, 0, 0.99998 ], "object_category": "plant", "info": { "geodesic_distance": 2.35119, "euclidean_distance": 1.96988, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.22515, 0.18682, 6.74274 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3GWRDHAURRNK6:3D3VGR7TA2IT2KPZ6CXJ0KKTLSL3RB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.90043, -3.21318, 9.95908 ], "start_rotation": [ 0, 0.46854, 0, 0.88344 ], "object_category": "towel", "info": { "geodesic_distance": 11.80403, "euclidean_distance": 10.36556, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.42283, -3.21318, 0.08302 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_60_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da" ], "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A2R0YYUAWNT7UD:36AHBNMV1TF0HD3IDWVPLPZ3V9SDY4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.59897, 0.09032, 0.725 ], "start_rotation": [ 0, 0.52181, 0, 0.85306 ], "object_category": "sofa", "info": { "geodesic_distance": 23.50998, "euclidean_distance": 5.61028, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.86599, -3.21318, 3.54612 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:31LVTDXBL9DAIOFOCI1JW6EANVORLP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.53518, -3.21318, 3.52969 ], "start_rotation": [ 0, 0.43646, 0, 0.89973 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.61501, "euclidean_distance": 1.52235, "closest_goal_object_id": 269, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.17752, -3.21318, 4.32407 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "refined_path": [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3KXIR214I6JXGWRIR0N19H4RPKR42E", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.48581, 0.18682, 7.38748 ], "start_rotation": [ 0, 0.77917, 0, 0.62681 ], "object_category": "towel", "info": { "geodesic_distance": 5.82197, "euclidean_distance": 5.50634, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.48015, 0.18682, 5.25031 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3U84XHCDIEGNM7UUG7WFWSEYASZ4ZT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.67916, 0.18682, 6.76533 ], "start_rotation": [ 0, 0.9984, 0, -0.05663 ], "object_category": "toilet", "info": { "geodesic_distance": 2.42927, "euclidean_distance": 1.97311, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.12396, 0.18682, 5.4695 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A2TUUIV61CR0C7:3M68NM076JASZ3CHPEVH7NWEYGPR66", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.78672, 0.32018, 0.85749 ], "start_rotation": [ 0, 0.53561, 0, 0.84446 ], "object_category": "sofa", "info": { "geodesic_distance": 26.5528, "euclidean_distance": 4.86697, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.72478, -3.21318, 3.5669 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3GWRDHAURRNK6:30OG32W0SWEBXKD42PXYARJGBV4NE2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.16575, 0.23724, 2.47055 ], "start_rotation": [ 0, 0.47788, 0, 0.87843 ], "object_category": "counter", "info": { "geodesic_distance": 3.04724, "euclidean_distance": 2.84449, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.79493, 0.18682, 4.98706 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A13WYZ8AXD6ODX:3VBEN272MM26XB10GG489OEZU48SGQ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.14905, -3.21318, 6.36026 ], "start_rotation": [ 0, 0.05577, 0, -0.99844 ], "object_category": "towel", "info": { "geodesic_distance": 8.36692, "euclidean_distance": 7.15966, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.35482, -3.21318, 0.06166 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A3RR85PK3AV9TU:3RANCT1ZVHKQL7LTPZ7UNE5QWP4BUA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.48073, 0.18682, 2.46017 ], "start_rotation": [ 0, 0.71987, 0, -0.69411 ], "object_category": "bed", "info": { "geodesic_distance": 3.92833, "euclidean_distance": 3.68489, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.85415, 0.18682, 4.02468 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "AZPZDX26SYMFY:3TPWUS5F8B4MNG24YZIQGMW5ZVBWC7", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.18923, 0.18682, 5.1372 ], "start_rotation": [ 0, 0.52595, 0, 0.85052 ], "object_category": "plant", "info": { "geodesic_distance": 2.62101, "euclidean_distance": 1.85216, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.26599, 0.18682, 6.84137 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "4385dfc7f81c413b86bb06658c1ff5c7", "path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1" ], "refined_path": [ "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3JZQSN0I3SDXT6WEAW492PVJOQSFGD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.25259, 0.16953, 1.82084 ], "start_rotation": [ 0, 0.80108, 0, -0.59856 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.73845, "euclidean_distance": 3.35745, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.92188, 0.18682, 4.31221 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "0_edge_32_newN_0", "path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "AZPZDX26SYMFY:34YB12FSQ0R3ZGOVWJ8MXFFT2FYGMA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20432, 0.18682, -0.37074 ], "start_rotation": [ 0, 0.80651, 0, -0.59122 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.37147, "euclidean_distance": 4.00255, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.86032, 0.18682, 3.1861 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "AOG0PUCLMU0HH:3YW4XOSQKSOP8931N2E5H2SHDC7U15", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.58805, -3.21318, 7.15304 ], "start_rotation": [ 0, 0.0233, 0, -0.99973 ], "object_category": "picture", "info": { "geodesic_distance": 3.76146, "euclidean_distance": 3.33641, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.03692, -3.21318, 4.82207 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "09032e947ac442f3bd01ad3b4f4e1b13", "path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ], "refined_path": [ "09032e947ac442f3bd01ad3b4f4e1b13", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3NC5L260MQPLLJDCYFHH7Y4LD5OFOP", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.97153, 0.18682, 5.25382 ], "start_rotation": [ 0, 0.65501, 0, 0.75562 ], "object_category": "plant", "info": { "geodesic_distance": 4.46739, "euclidean_distance": 3.9799, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.2313, 0.18682, 6.8369 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "6975b20fd2964adcbe00ee81f5afbb2f", "path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2TUUIV61CR0C7:30ZX6P7VFAYNJEA3U7A5FJTBLAHJ2M", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.69159, -3.21318, 1.89515 ], "start_rotation": [ 0, 0.07323, 0, -0.99731 ], "object_category": "bathtub", "info": { "geodesic_distance": 16.17284, "euclidean_distance": 9.26981, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.09037, 0.18682, 7.17963 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0_edge_41_newN_0", "path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3YMTUJH0DUJR0VLVAF7XA4DI6MZ4TY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.18863, -3.21318, 9.26501 ], "start_rotation": [ 0, 0.40549, 0, 0.9141 ], "object_category": "seating", "info": { "geodesic_distance": 15.54629, "euclidean_distance": 4.30575, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.00572, 0.18682, 6.63966 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "d20808518c8d4844bb76a2e0a7b98ba4", "path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4" ], "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A75XDPFNICR3T:37XITHEISYCHFKLIZ58KTNOO7M2CR2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.21418, 0.18682, 4.77689 ], "start_rotation": [ 0, 0.66013, 0, -0.75116 ], "object_category": "sofa", "info": { "geodesic_distance": 19.55796, "euclidean_distance": 4.74978, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.79942, -3.21318, 3.66998 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3A0EX8ZRNAR72G5YZ04JQZB3F3CBY8", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.01124, -3.21318, 2.32331 ], "start_rotation": [ 0, 0.5916, 0, -0.80623 ], "object_category": "shower", "info": { "geodesic_distance": 21.49099, "euclidean_distance": 6.70055, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.67936, 0.18682, 5.49883 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "16f04516e33a4423af79b8f7dc46904c", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "fea557b2ef0e46929f85f0bfd71f9bdc", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f" ], "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3F0NFNLOLFJT0:38YMOXR4MW2X7ZT3O85NUM4UPL3W6Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.19209, -3.21318, 9.92589 ], "start_rotation": [ 0, 0.99163, 0, -0.12914 ], "object_category": "picture", "info": { "geodesic_distance": 5.53727, "euclidean_distance": 5.0341, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19242, -3.21318, 5.04608 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "fdf3a24fdd1c41b092aa9e5ede5946d1", "path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A3BRY2LVVQGP3H:35LDD5557C7812KEMAT1V77LSFQKMB", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.17802, -3.21318, 7.4512 ], "start_rotation": [ 0, 0.57551, 0, 0.8178 ], "object_category": "chair", "info": { "geodesic_distance": 1.16382, "euclidean_distance": 1.00574, "closest_goal_object_id": 294, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.89337, -3.21318, 6.3935 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", [ "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A1BZNPQ0H7ZSER:37KGEN7NJ5TFXWE7RIQ18SNG8FXPPS", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.97024, 0.18654, 3.17711 ], "start_rotation": [ 0, 0.99887, 0, -0.04754 ], "object_category": "plant", "info": { "geodesic_distance": 4.71936, "euclidean_distance": 3.6416, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.25723, 0.18682, 6.84392 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860" ] }, { "episode_id": "A3KC26Z78FBOJT:3JWH6J9I9UGDQH1KSYV89JDVA68NB1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.1577, -3.21318, 4.10511 ], "start_rotation": [ 0, 0.58643, 0, 0.81 ], "object_category": "toilet", "info": { "geodesic_distance": 4.60656, "euclidean_distance": 4.34568, "closest_goal_object_id": 221, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.14509, -3.21318, -0.01031 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "16f04516e33a4423af79b8f7dc46904c", "path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A3L8LSM7V7KX3T:3WOKGM4L73JUOFYMVXYW4RHH7D8O0N", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.13153, 0.18682, 9.25643 ], "start_rotation": [ 0, 0.37997, 0, -0.925 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.61929, "euclidean_distance": 2.55335, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.07347, 0.18682, 6.85183 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "ADKF5SLASD5PJ:33PPO7FECXIERDOD9E9MZ15F5LPIDO", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.56412, 0.18682, 9.80181 ], "start_rotation": [ 0, 0.15319, 0, 0.9882 ], "object_category": "counter", "info": { "geodesic_distance": 5.3696, "euclidean_distance": 4.68177, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.57031, 0.18682, 5.73811 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", [ "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "AQ0YWEW29GSIJ:3WT783CTPDKUZD4T38MUT8JKSPUBC0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.02634, -3.21318, 1.14086 ], "start_rotation": [ 0, 0.53532, 0, -0.84465 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 21.62595, "euclidean_distance": 6.98621, "closest_goal_object_id": 37, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.87083, 0.18682, 6.98326 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "d2e778a1130d4dbfb60b503a7b528d80", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860" ], "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0" ] }, { "episode_id": "AOWW3URQNRJ6U:3DYGAII7PNB0X8FMRV5Q8XDPWVLPQ6", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.09683, -3.21318, 6.29426 ], "start_rotation": [ 0, 0.96398, 0, 0.26597 ], "object_category": "bed", "info": { "geodesic_distance": 18.56958, "euclidean_distance": 3.45636, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.3346, 0.18682, 6.76339 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "27e1974cf8af461e90d0f5124a665654", "path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762" ], "refined_path": [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", [ "04cdd02138664b138f281bb5ad8b957f", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ] ] }, { "episode_id": "AAX9LTAOIBECD:3B1NLC6UG1Z9KJL8OZ0EEJ9O7KWGPT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.0089, 0.18682, 7.2363 ], "start_rotation": [ 0, 0.10099, 0, -0.99489 ], "object_category": "towel", "info": { "geodesic_distance": 3.28833, "euclidean_distance": 2.55786, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.68373, 0.18682, 5.27451 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1" ], "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "AKYXQY5IP7S0Z:3EFVCAY5L5CY5TCSAOJ6PA6EA6EJ8P", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.45024, 0.18682, 4.11328 ], "start_rotation": [ 0, 0.87455, 0, -0.48493 ], "object_category": "counter", "info": { "geodesic_distance": 6.19815, "euclidean_distance": 4.24365, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.63912, 0.18682, 5.6065 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "37fc3df516b34c7b95d95c9097151ad9", "path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ], "refined_path": [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", [ "37fc3df516b34c7b95d95c9097151ad9" ], "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278" ] }, { "episode_id": "A3L8LSM7V7KX3T:3TS1AR6UQSHE0DLDHT0FWCIR3CS7FF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.23401, -0.09095, 8.37091 ], "start_rotation": [ 0, 0.52259, 0, -0.85258 ], "object_category": "chair", "info": { "geodesic_distance": 6.59572, "euclidean_distance": 5.74178, "closest_goal_object_id": 275, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.7675, -3.21318, 10.01342 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:39U1BHVTDNU6IZ2RA12E0ZLCSMT3T2", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.33093, 0.18682, 4.3942 ], "start_rotation": [ 0, 0.1951, 0, 0.98078 ], "object_category": "plant", "info": { "geodesic_distance": 5.72681, "euclidean_distance": 4.6836, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.35663, 0.18682, 6.87879 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A75XDPFNICR3T:3AAPLD8UCEKLC79QPMRG4TMM80GTHJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.45345, -3.21318, 4.99291 ], "start_rotation": [ 0, 0.99511, 0, -0.09874 ], "object_category": "sofa", "info": { "geodesic_distance": 2.81399, "euclidean_distance": 2.0799, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.8215, -3.21318, 3.7419 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3F0NFNLOLFJT0:39N5ACM9HGQU59Y0ATU4M2N1N0CP9S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.276, 0.18682, 5.4194 ], "start_rotation": [ 0, 0.2299, 0, 0.97321 ], "object_category": "sofa", "info": { "geodesic_distance": 18.95327, "euclidean_distance": 5.67358, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81644, -3.21318, 3.63166 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "0e45c1af5098415c9bbd3a6ce537c7cb", "path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3SEPORI8WP22OWABP8669V0ZGF8ZAI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.20354, 0.18682, 2.00194 ], "start_rotation": [ 0, 0.81296, 0, -0.58232 ], "object_category": "towel", "info": { "geodesic_distance": 5.96326, "euclidean_distance": 5.42155, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.5167, 0.18682, 5.22656 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2TUUIV61CR0C7:3LQ8PUHQFNVV3TTFVASCQMKCHL9IHM", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.51337, 0.18682, 6.57505 ], "start_rotation": [ 0, 0.76339, 0, 0.64594 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.64282, "euclidean_distance": 1.56178, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.11146, 0.18682, 6.94058 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ] }, { "episode_id": "A2TUUIV61CR0C7:3KXIR214I6JXGWRIR0N19H4S2VF241", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.08387, 0.18682, 9.81573 ], "start_rotation": [ 0, 0.01679, 0, -0.99986 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.10581, "euclidean_distance": 3.09651, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.92988, 0.18682, 6.99219 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "d2e778a1130d4dbfb60b503a7b528d80", "path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "AWIJ1R9XNXRHC:3C6FJU71TSWMYFE4ZRLEVP3Q3L7YUR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.16384, -3.21318, 4.95788 ], "start_rotation": [ 0, 0.49487, 0, -0.86897 ], "object_category": "cushion", "info": { "geodesic_distance": 2.58808, "euclidean_distance": 2.38455, "closest_goal_object_id": 193, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.81004, -3.21318, 3.39473 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "075307518bc2495498609ee2ff6dd003", "path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ], "refined_path": [ "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3EJJQNKU9T88WSWYLXML4EL4KA9RHK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.04572, -3.21318, 1.59163 ], "start_rotation": [ 0, 0.06041, 0, -0.99817 ], "object_category": "shower", "info": { "geodesic_distance": 22.21572, "euclidean_distance": 7.03266, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.77209, 0.18682, 5.43245 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f" ], "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A75XDPFNICR3T:3IO1LGZLKB0MHYXLQ5PHG619O0R683", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.78281, 0.18682, 1.92691 ], "start_rotation": [ 0, 0.93492, 0, -0.35487 ], "object_category": "shower", "info": { "geodesic_distance": 10.35706, "euclidean_distance": 7.50402, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.8506, 0.18682, 5.46865 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3DPNQGW4LNILYXAJE2Z4ZUL4JH2646", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.67447, -3.21318, 5.40007 ], "start_rotation": [ 0, 0.81942, 0, -0.5732 ], "object_category": "seating", "info": { "geodesic_distance": 19.21432, "euclidean_distance": 3.69543, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.03601, 0.18682, 6.71342 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "0_edge_60_newN_0", "path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "0_edge_44_newN_0", "0_edge_42_newN_1", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "c3cbc9cde04b4568aad232bf17a0bc1e", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "bc280058ef514e16860da03ecb6cdb07", "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1" ], "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1" ], "c3cbc9cde04b4568aad232bf17a0bc1e", [ "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:3PIWWX1FJL9NPA8B1SGXE0FSQHDJJE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.40064, -3.21318, 7.05077 ], "start_rotation": [ 0, 0.68434, 0, -0.72917 ], "object_category": "shower", "info": { "geodesic_distance": 17.75447, "euclidean_distance": 6.45108, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.80765, 0.18682, 5.41375 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", [ "b2157583eedf426383de6e6e9753a4da" ], "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3FSDH6HUZPNQ8:38YMOXR4MW2X7ZT3O85NUM4V3ADW6U", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.95569, -0.58133, 8.93121 ], "start_rotation": [ 0, 0.00944, 0, 0.99996 ], "object_category": "cushion", "info": { "geodesic_distance": 8.66541, "euclidean_distance": 4.86386, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.80419, 0.18682, 4.16722 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A2TUUIV61CR0C7:3VJ40NV2QKQV4OVDTZM6O2JM6XIOTW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.51318, 0.18682, 6.20402 ], "start_rotation": [ 0, 0.92667, 0, 0.37588 ], "object_category": "plant", "info": { "geodesic_distance": 1.67515, "euclidean_distance": 1.3455, "closest_goal_object_id": 45, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 1.33364, 0.18682, 6.92856 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "1e61d22315c945378096f3055645d9e1", "path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3HMVI3QICLV6PIN6X3BUKNYU901Y1Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.5371, 0.13419, 0.96281 ], "start_rotation": [ 0, 0.9285, 0, 0.37133 ], "object_category": "towel", "info": { "geodesic_distance": 5.80606, "euclidean_distance": 4.7119, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.44132, 0.18682, 5.29648 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "3a4c65b97ebb4b4fb888a262586c3fa7", "path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A1RQLE4ZMTU22A:3HSYG7LRBL1DBEKB1YGLGUFH3ANKKY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.02828, 0.18682, 3.57283 ], "start_rotation": [ 0, 0.95221, 0, 0.30543 ], "object_category": "chair", "info": { "geodesic_distance": 2.64453, "euclidean_distance": 1.76834, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.26889, 0.15622, 3.07876 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3NKZMF7M4X0ZP:3IX2EGZR7DM4NYRO9XP6GR1J0ZJJRK", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.17933, 0.26554, 0.46887 ], "start_rotation": [ 0, 0.93685, 0, -0.34973 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.64401, "euclidean_distance": 9.95487, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.29865, 0.18682, 7.0072 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2R0YYUAWNT7UD:3URFVVM167LM35O9VDNX9WCTNYKUZ5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.4308, 0.18682, 1.90298 ], "start_rotation": [ 0, 0.98962, 0, 0.1437 ], "object_category": "counter", "info": { "geodesic_distance": 8.27594, "euclidean_distance": 5.39662, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.56341, 0.18682, 5.66591 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "0_edge_34_newN_1", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ] }, { "episode_id": "A9K0CV70JWG1W:39N5ACM9HGQU59Y0ATU4M2N1ZXU9P0", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.97557, 0.18682, 8.09471 ], "start_rotation": [ 0, 0.93344, 0, 0.35873 ], "object_category": "toilet", "info": { "geodesic_distance": 3.08364, "euclidean_distance": 2.84442, "closest_goal_object_id": 94, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.50968, 0.18682, 6.91452 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "41f833ed92c0489bb85a911668189278", "path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A26LOVXF4QZZCO:3YZ8UPK3VVP9VCDZ3Z3PYYB811KUCL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.63634, 0.18682, 7.269 ], "start_rotation": [ 0, 0.95284, 0, 0.30346 ], "object_category": "table", "info": { "geodesic_distance": 7.576, "euclidean_distance": 5.52867, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.18536, 0.17704, 3.22124 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "81309402fcf041df881e7aca01b8b4f2", "path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "902b0496eeb94742995708a15c69bb26", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ], "refined_path": [ "81309402fcf041df881e7aca01b8b4f2", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", [ "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0" ], "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "bc280058ef514e16860da03ecb6cdb07" ] }, { "episode_id": "A3FSDH6HUZPNQ8:386CSBG1O1PSN2XHCZ6H2XM81HU6QY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -2.43193, 0.18682, 0.06428 ], "start_rotation": [ 0, 0.49145, 0, -0.8709 ], "object_category": "toilet", "info": { "geodesic_distance": 3.0779, "euclidean_distance": 2.87297, "closest_goal_object_id": 7, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.96662, 0.18682, 2.94622 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_toilet", "start_potision_viewpoint_id": "34d076b898bd4f539d5be04c0bacc57e", "path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ], "refined_path": [ "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc" ] }, { "episode_id": "A3K1P4SPR8XS7R:3ERET4BTVOCTUI1KX1PWQL126569KI", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.53226, 0.18682, 2.84223 ], "start_rotation": [ 0, 0.22365, 0, -0.97467 ], "object_category": "shower", "info": { "geodesic_distance": 9.41034, "euclidean_distance": 6.88778, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.88413, 0.18682, 5.48181 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "34d076b898bd4f539d5be04c0bacc57e", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", [ "21e7d627b7b34355a52f3c88cb2ad446" ], "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "fea557b2ef0e46929f85f0bfd71f9bdc", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446" ], "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "e6ac6b13b27c41b28df5d51a7e26549d", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A75XDPFNICR3T:39ASUFLU6ZAG9ER84VK78TAFW83XE4", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.84419, 0.18682, 3.15691 ], "start_rotation": [ 0, 0.43192, 0, -0.90191 ], "object_category": "shower", "info": { "geodesic_distance": 5.22875, "euclidean_distance": 4.52258, "closest_goal_object_id": 86, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.72258, 0.18682, 5.38385 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_shower", "start_potision_viewpoint_id": "63ce2067f6dc4caab31f454f4cc5ce42", "path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A12X8RUSITV7RU:3YHH42UU5DIMIUVPI5I4CADNEHJL03", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.03146, -3.21318, 1.55127 ], "start_rotation": [ 0, 0.63613, 0, -0.77158 ], "object_category": "bed", "info": { "geodesic_distance": 22.76955, "euclidean_distance": 6.20466, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.31242, 0.18682, 4.28596 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "04cdd02138664b138f281bb5ad8b957f", "path": [ "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "902b0496eeb94742995708a15c69bb26", [ "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1" ], "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "AOMFEAWQHU3D8:3RXCAC0YITSOERMR2IY3SXEXZ6F8GR", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.41142, -2.80699, 10.05898 ], "start_rotation": [ 0, 0.97467, 0, -0.22363 ], "object_category": "picture", "info": { "geodesic_distance": 6.26077, "euclidean_distance": 4.81998, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.83103, 0.18682, 7.22028 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_14_newN_0", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A34CQE6RGU49L7:3ND9UOO81M5FQKWABCBPJ5MSW3XWLW", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.24427, 0.17746, 3.25938 ], "start_rotation": [ 0, 0.9769, 0, 0.2137 ], "object_category": "seating", "info": { "geodesic_distance": 5.68043, "euclidean_distance": 4.01208, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.11787, 0.18682, 6.711 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "c657ac66dec0483683d0d6356992b868", "path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "63ce2067f6dc4caab31f454f4cc5ce42", [ "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "APRZ7BR8C0ZMQ:31LVTDXBL9DAIOFOCI1JW6EB1JCLRZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.19063, -2.2266, 10.12525 ], "start_rotation": [ 0, 0.73202, 0, 0.68128 ], "object_category": "picture", "info": { "geodesic_distance": 5.29159, "euclidean_distance": 4.17844, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.81358, 0.18682, 7.14416 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A2TUUIV61CR0C7:3WMOAN2SRD0SZVZQXFM8AV72BFSVNF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.75916, -1.21318, 10.58633 ], "start_rotation": [ 0, 0.97506, 0, -0.22193 ], "object_category": "towel", "info": { "geodesic_distance": 9.30444, "euclidean_distance": 5.67898, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.54015, 0.18682, 5.36264 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e2de0f25e4f2451c82292a347d3a5f55", "path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55" ], "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3HL2LL0LEPZT8:3SITXWYCNXCI2BFOU4IH7L4UQ6MBX1", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.58599, 0.18682, 8.61313 ], "start_rotation": [ 0, 0.06707, 0, 0.99775 ], "object_category": "sink", "info": { "geodesic_distance": 5.25754, "euclidean_distance": 3.38238, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.9352, 0.18682, 5.57418 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "f252cace47cd461c8c2277dfb9aaf9c5", "path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "0_edge_34_newN_0", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", "f252cace47cd461c8c2277dfb9aaf9c5", "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "f252cace47cd461c8c2277dfb9aaf9c5", "d2e778a1130d4dbfb60b503a7b528d80", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "0_edge_34_newN_0", [ "f252cace47cd461c8c2277dfb9aaf9c5" ], "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A272X64FOZFYLB:30IQTZXKAM9HIOCEWOLSN48AJ9RX0Z", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.64553, -3.21318, -0.06726 ], "start_rotation": [ 0, 0.96939, 0, -0.24554 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.09083, "euclidean_distance": 10.50258, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.02943, 0.18682, 7.22377 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8", [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", "0_edge_42_newN_1", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3O5RKGH6VB19C:3OWEPKL08BFQO5YUFHJS4HRZREWN7Q", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.32439, 0.05871, 2.28147 ], "start_rotation": [ 0, 0.99453, 0, -0.10446 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.78593, "euclidean_distance": 2.39742, "closest_goal_object_id": 160, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.83485, 0.18682, 4.24993 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cabinet", "start_potision_viewpoint_id": "7d7ba5af47c84c30850af05e203342e5", "path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "refined_path": [ "7d7ba5af47c84c30850af05e203342e5", "0_edge_32_newN_0", "bf86bc749f794739a74bac109ec2f4ef", [ "0_edge_32_newN_0", "7d7ba5af47c84c30850af05e203342e5" ], "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ] }, { "episode_id": "AQ0YWEW29GSIJ:3JWH6J9I9UGDQH1KSYV89JDVAGLNBY", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.4563, -3.21318, 6.15091 ], "start_rotation": [ 0, 0.43169, 0, -0.90202 ], "object_category": "plant", "info": { "geodesic_distance": 4.05, "euclidean_distance": 3.80904, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -1.13112, -3.21318, 3.29786 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] }, { "episode_id": "AJQGWGESKQT4Y:3EO896NRAYYH3D4GDMU1G621OGCJTL", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.31347, 0.18682, 3.1592 ], "start_rotation": [ 0, 0.71738, 0, -0.69668 ], "object_category": "towel", "info": { "geodesic_distance": 4.11949, "euclidean_distance": 2.06914, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.60962, 0.18682, 5.22332 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3L8LSM7V7KX3T:30X31N5D65T5NKOXUGCYD23VFOIASU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.25803, -3.21318, 8.02937 ], "start_rotation": [ 0, 0.35592, 0, -0.93452 ], "object_category": "picture", "info": { "geodesic_distance": 4.21032, "euclidean_distance": 3.65911, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.1051, -3.21318, 5.07385 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "a0624e5f721b4283bbf4455ebc882674", "path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "A21ZK49H9LSSRY:3RXPCZQMQRE63R263XPODNRQ1GTG1D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.30527, -3.21318, -0.05964 ], "start_rotation": [ 0, 0.14141, 0, 0.98995 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.03036, "euclidean_distance": 10.28379, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.09347, 0.18682, 7.436 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "0d22d1de9f4d4668b333ac24923d8940", "path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "0e45c1af5098415c9bbd3a6ce537c7cb", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", [ "0d22d1de9f4d4668b333ac24923d8940" ], "04cdd02138664b138f281bb5ad8b957f", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "41f833ed92c0489bb85a911668189278", [ "5062afb29ed34159a1e05c60e6cf6585" ], "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7" ], "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb" ], "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "AOG0PUCLMU0HH:3P529IW9K0ODFYAFLN1PFH0SYX8LFF", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.17593, 0.18682, 0.31938 ], "start_rotation": [ 0, 0.61051, 0, -0.79201 ], "object_category": "bed", "info": { "geodesic_distance": 5.89718, "euclidean_distance": 5.17691, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.87179, 0.18682, 4.0202 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A9K0CV70JWG1W:39GHHAVOMHUXMSPQYLTT8YQ98GOJ4G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.37049, 0.18682, 4.42993 ], "start_rotation": [ 0, 0.83537, 0, -0.54969 ], "object_category": "sink", "info": { "geodesic_distance": 3.18464, "euclidean_distance": 2.3626, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.13029, 0.18682, 5.36451 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "fae6e14f539d49e6ae5007da3497e6fa", "path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "0_edge_34_newN_1", "3560fdb7b97c462ab565c8946b77ecef", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ], "refined_path": [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", [ "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860" ], "3560fdb7b97c462ab565c8946b77ecef", [ "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3FTYUGLFSWO2FPTY2UQSAS19MGND5V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.54754, 0.18682, 0.09093 ], "start_rotation": [ 0, 0.92417, 0, -0.38198 ], "object_category": "seating", "info": { "geodesic_distance": 9.31288, "euclidean_distance": 6.70857, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.22983, 0.18682, 6.72537 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", [ "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3DQQ64TANIO5H5B8344W0MVC1C5WPZ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -3.07588, -3.21318, 4.83366 ], "start_rotation": [ 0, 0.2355, 0, -0.97187 ], "object_category": "plant", "info": { "geodesic_distance": 3.79512, "euclidean_distance": 2.44627, "closest_goal_object_id": 192, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.97292, -3.21318, 3.35578 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_plant", "start_potision_viewpoint_id": "0_edge_93_newN_0", "path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "0_edge_93_newN_0", "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3LQ8PUHQFNVV3TTFVASCQMKCHIQIHX", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.26792, 0.18682, 1.13448 ], "start_rotation": [ 0, 0.98752, 0, 0.15747 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.11746, "euclidean_distance": 6.34528, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.00955, 0.18682, 5.32826 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "433a39089bf94c7994e39d5e7115cd02", "path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "433a39089bf94c7994e39d5e7115cd02", "0_edge_26_newN_2", [ "433a39089bf94c7994e39d5e7115cd02" ], "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A3KC26Z78FBOJT:3CPLWGV3MQ2U2OMNUEHCIDI5KOH9NN", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.26973, -2.15785, 10.53449 ], "start_rotation": [ 0, 0.16494, 0, 0.9863 ], "object_category": "picture", "info": { "geodesic_distance": 5.26147, "euclidean_distance": 4.42087, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.81142, 0.18682, 7.0439 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "871d8081c12f4c8585e62515f441d69a", "path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3P529IW9K0ODFYAFLN1PFH0RKI2FLT", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.35053, -3.21318, 7.09513 ], "start_rotation": [ 0, 0.63338, 0, -0.77384 ], "object_category": "bed", "info": { "geodesic_distance": 17.84414, "euclidean_distance": 3.41562, "closest_goal_object_id": 30, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.3334, 0.18682, 6.74811 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "b2157583eedf426383de6e6e9753a4da", "path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "81309402fcf041df881e7aca01b8b4f2" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "81309402fcf041df881e7aca01b8b4f2" ], "refined_path": [ "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_14_newN_0", "fdf3a24fdd1c41b092aa9e5ede5946d1", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "81309402fcf041df881e7aca01b8b4f2" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3IAS3U3I0HJH1VCR6FXOHVAXZCRB2A", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.06201, 0.18682, 3.99874 ], "start_rotation": [ 0, 0.31801, 0, -0.94809 ], "object_category": "towel", "info": { "geodesic_distance": 3.06523, "euclidean_distance": 2.78838, "closest_goal_object_id": 102, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.54152, 0.18682, 5.30676 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3CTOC39K39TU5F790JR0BAAJWJSJ7D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.94311, -3.21318, 3.2861 ], "start_rotation": [ 0, 0.11655, 0, -0.99318 ], "object_category": "chair", "info": { "geodesic_distance": 2.1492, "euclidean_distance": 1.78188, "closest_goal_object_id": 246, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.76139, -3.21318, 4.65489 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "c3cbc9cde04b4568aad232bf17a0bc1e", "path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "refined_path": [ "c3cbc9cde04b4568aad232bf17a0bc1e", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654" ] }, { "episode_id": "A75XDPFNICR3T:3IFS6Q0HJKMKT27V644BU0RF6Q8ISV", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.03138, 0.18682, 6.95043 ], "start_rotation": [ 0, 0.0783, 0, 0.99693 ], "object_category": "counter", "info": { "geodesic_distance": 3.51708, "euclidean_distance": 2.92454, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.60459, 0.18682, 5.62465 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_34_newN_1", "path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "refined_path": [ "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0" ], "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3907X2AHF28J5PD1PKFPCFFNHSYP2S", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.52551, -3.21318, 0.11393 ], "start_rotation": [ 0, 0.64078, 0, -0.76772 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.68745, "euclidean_distance": 10.96445, "closest_goal_object_id": 100, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 6.04915, 0.18682, 7.22695 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bathtub", "start_potision_viewpoint_id": "fe2d6243c11d4edb877748f6b6988957", "path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_44_newN_0", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "37fc3df516b34c7b95d95c9097151ad9", "21e7d627b7b34355a52f3c88cb2ad446", "34d076b898bd4f539d5be04c0bacc57e", [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] ] }, { "episode_id": "A3RR85PK3AV9TU:37C0GNLMHH6YYTTC7D0X2YFAWOUD6D", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.62813, 0.18682, 0.27499 ], "start_rotation": [ 0, 0.71643, 0, 0.69766 ], "object_category": "bed", "info": { "geodesic_distance": 6.40592, "euclidean_distance": 4.90095, "closest_goal_object_id": 108, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 3.87163, 0.18682, 4.09174 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_bed", "start_potision_viewpoint_id": "0_edge_58_newN_0", "path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "0_edge_58_newN_0", "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] }, { "episode_id": "A21ZK49H9LSSRY:3VD82FOHKSREI7T27DRGZSJJWTACO9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.59583, 0.18682, 5.4871 ], "start_rotation": [ 0, 0.20957, 0, 0.97779 ], "object_category": "cushion", "info": { "geodesic_distance": 4.03023, "euclidean_distance": 1.22834, "closest_goal_object_id": 114, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 4.6772, 0.18682, 4.18062 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_cushion", "start_potision_viewpoint_id": "ff561930e4314f5c8af26ebaf5bed637", "path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ], "refined_path": [ "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", [ "ff561930e4314f5c8af26ebaf5bed637" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424", [ "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585" ], "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3" ], "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f", "ff561930e4314f5c8af26ebaf5bed637", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3NQL1CS15TBMBU344HVJRB59HNIVY5", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 5.51261, 0.18682, 7.24194 ], "start_rotation": [ 0, 0.99717, 0, -0.07513 ], "object_category": "chair", "info": { "geodesic_distance": 6.11345, "euclidean_distance": 5.53994, "closest_goal_object_id": 24, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.08081, 0.18682, 5.73075 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "dd4e4342c9d849c6881d1e4ba1b816da", "path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3C44YUNSI3S68ZBHM9Z68Y6QB44PDJ", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.11384, 0.18682, 4.85042 ], "start_rotation": [ 0, 0.99968, 0, -0.02529 ], "object_category": "sofa", "info": { "geodesic_distance": 19.52568, "euclidean_distance": 4.70348, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.73009, -3.21318, 3.66839 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "533a4cd1505a486fa8801bb3aa38f2e3", "path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "0_edge_41_newN_0" ], "refined_path": [ "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c", [ "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "0_edge_41_newN_0" ] }, { "episode_id": "A3HL2LL0LEPZT8:3NC5L260MQPLLJDCYFHH7Y4MT1TOFD", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 4.39855, 0.1895, 2.83116 ], "start_rotation": [ 0, 0.86821, 0, -0.49619 ], "object_category": "chair", "info": { "geodesic_distance": 3.46277, "euclidean_distance": 2.03787, "closest_goal_object_id": 147, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.2567, 0.14534, 2.97083 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chair", "start_potision_viewpoint_id": "e6ac6b13b27c41b28df5d51a7e26549d", "path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3KC26Z78FBOJT:3DPNQGW4LNILYXAJE2Z4ZUL35PI46K", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 2.17406, -3.21318, 6.72108 ], "start_rotation": [ 0, 0.94199, 0, 0.33564 ], "object_category": "picture", "info": { "geodesic_distance": 2.91087, "euclidean_distance": 2.60785, "closest_goal_object_id": 203, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.19094, -3.21318, 5.07239 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "0_edge_46_newN_1", "path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "16f04516e33a4423af79b8f7dc46904c" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c" ], "refined_path": [ "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003" ], "16f04516e33a4423af79b8f7dc46904c" ] }, { "episode_id": "AOMFEAWQHU3D8:3LRLIPTPESC7Z1BPP73WMGCMCRIKAA", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.38246, 0.18682, 2.69238 ], "start_rotation": [ 0, 0.07079, 0, -0.99749 ], "object_category": "table", "info": { "geodesic_distance": 9.92852, "euclidean_distance": 3.43788, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.1354, 0.174, 3.16312 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:3EWIJTFFVQA8COLX1JV0ZFN4M010ET", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.04604, 0.18682, 8.639 ], "start_rotation": [ 0, 0.99757, 0, 0.06972 ], "object_category": "counter", "info": { "geodesic_distance": 4.29212, "euclidean_distance": 4.02294, "closest_goal_object_id": 95, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.53102, 0.18682, 5.50485 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_counter", "start_potision_viewpoint_id": "0_edge_34_newN_0", "path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ], "refined_path": [ "0_edge_34_newN_0", "f252cace47cd461c8c2277dfb9aaf9c5", "3560fdb7b97c462ab565c8946b77ecef", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637" ] }, { "episode_id": "A272X64FOZFYLB:3AAJC4I4FIVDPPDFJEJJ2U3HSTRJZ9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 3.24088, -2.90903, 10.44982 ], "start_rotation": [ 0, 0.57347, 0, 0.81923 ], "object_category": "picture", "info": { "geodesic_distance": 6.48869, "euclidean_distance": 5.21084, "closest_goal_object_id": 164, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.8167, 0.18682, 7.15422 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_picture", "start_potision_viewpoint_id": "6e136e11116740a6a49af82502f51cee", "path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ], "refined_path": [ "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da" ] }, { "episode_id": "A1R0689JPSQ3OF:39K0FND3AJI2PPBSAJGC1T4PLG4MAU", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -0.86018, -3.21318, 3.59765 ], "start_rotation": [ 0, 0.95346, 0, -0.30151 ], "object_category": "sink", "info": { "geodesic_distance": 4.69736, "euclidean_distance": 4.43624, "closest_goal_object_id": 272, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.20489, -3.21318, 6.72111 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0_edge_42_newN_1", "path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ], "refined_path": [ "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674" ] }, { "episode_id": "A21ZK49H9LSSRY:3YW4XOSQKSOP8931N2E5H2SHA3JU1W", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.23657, -3.21318, 6.249 ], "start_rotation": [ 0, 0.58765, 0, -0.80911 ], "object_category": "towel", "info": { "geodesic_distance": 8.39369, "euclidean_distance": 7.10679, "closest_goal_object_id": 224, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -2.4247, -3.21318, 0.04993 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_towel", "start_potision_viewpoint_id": "e80f0f3dbb31423d890e2c2e42759bd1", "path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "0_edge_44_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ], "refined_path": [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", [ "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", "d20808518c8d4844bb76a2e0a7b98ba4", [ "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "aff31ea76e864cbfa280a1d82b5e35d8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3L4D84MIL1VRY4DLDSDC2NZDAS8HJ9", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.63611, -3.21318, 5.0238 ], "start_rotation": [ 0, 0.76213, 0, 0.64742 ], "object_category": "seating", "info": { "geodesic_distance": 20.06178, "euclidean_distance": 4.13538, "closest_goal_object_id": 40, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 0.10183, 0.18682, 6.67173 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_seating", "start_potision_viewpoint_id": "bf92c209d8bb477c992b145b4f3ca1dd", "path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "b2157583eedf426383de6e6e9753a4da", "0_edge_44_newN_0", "0_edge_46_newN_0", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0_edge_41_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "b2157583eedf426383de6e6e9753a4da", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "0_edge_41_newN_0", "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ], "refined_path": [ "bf92c209d8bb477c992b145b4f3ca1dd", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654" ], "b2157583eedf426383de6e6e9753a4da", [ "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003" ], "0_edge_44_newN_0", [ "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "0_edge_60_newN_0", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1" ], "0_edge_46_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003" ], "0_edge_42_newN_1", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940", "fe2d6243c11d4edb877748f6b6988957", [ "0d22d1de9f4d4668b333ac24923d8940", "04cdd02138664b138f281bb5ad8b957f", "0d22d1de9f4d4668b333ac24923d8940" ], "0_edge_41_newN_0", [ "0_edge_42_newN_1", "075307518bc2495498609ee2ff6dd003", "16f04516e33a4423af79b8f7dc46904c", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "075307518bc2495498609ee2ff6dd003", "27e1974cf8af461e90d0f5124a665654", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_46_newN_0" ], "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "0_edge_46_newN_1", "a0624e5f721b4283bbf4455ebc882674", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "6e136e11116740a6a49af82502f51cee", "871d8081c12f4c8585e62515f441d69a", "d9d2484fd1b44448b04b6eadf278d9db", "e2de0f25e4f2451c82292a347d3a5f55", "0bc53661f71543df85e5499ea85f74c7", "dd4e4342c9d849c6881d1e4ba1b816da", "0_edge_49_newN_0", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "0e45c1af5098415c9bbd3a6ce537c7cb", [ "4385dfc7f81c413b86bb06658c1ff5c7" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", [ "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:35USIKEBNTJ7K5KPW7E0Y3R3URRN6G", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 0.47993, 0.18682, 1.76045 ], "start_rotation": [ 0, 0.99259, 0, 0.12151 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.79887, "euclidean_distance": 5.4191, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.13281, 0.18682, 4.35767 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_26_newN_2", "path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ], "refined_path": [ "0_edge_26_newN_2", "433a39089bf94c7994e39d5e7115cd02", "63ce2067f6dc4caab31f454f4cc5ce42", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "0e45c1af5098415c9bbd3a6ce537c7cb", "ff561930e4314f5c8af26ebaf5bed637", "6975b20fd2964adcbe00ee81f5afbb2f" ] }, { "episode_id": "A28U7B76HLCS1U:3IFS6Q0HJKMKT27V644BU0RF6UJISE", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ -1.34988, 0.18682, 2.61021 ], "start_rotation": [ 0, 0.98044, 0, -0.19684 ], "object_category": "table", "info": { "geodesic_distance": 10.01113, "euclidean_distance": 3.41707, "closest_goal_object_id": 142, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.17359, 0.1795, 3.23692 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_table", "start_potision_viewpoint_id": "21e7d627b7b34355a52f3c88cb2ad446", "path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ], "refined_path": [ "21e7d627b7b34355a52f3c88cb2ad446", "37fc3df516b34c7b95d95c9097151ad9", "57bdea1f5113402d9b4a65450e030424", "0_edge_29_newN_0", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4385dfc7f81c413b86bb06658c1ff5c7", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "e6ac6b13b27c41b28df5d51a7e26549d", [ "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1" ] }, { "episode_id": "A13WYZ8AXD6ODX:3KKG4CDWKK18GGCHC92GJ4C69B9490", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 6.2931, -0.14439, 8.48581 ], "start_rotation": [ 0, 0.98286, 0, 0.18434 ], "object_category": "sink", "info": { "geodesic_distance": 5.33743, "euclidean_distance": 4.45263, "closest_goal_object_id": 104, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 2.90126, 0.18682, 5.56965 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sink", "start_potision_viewpoint_id": "0bc53661f71543df85e5499ea85f74c7", "path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07" ], "refined_path": [ "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ] ] }, { "episode_id": "A2CUAZD7OJDFYR:3EWIJTFFVQA8COLX1JV0ZFN33WBE0O", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.37224, 0.18682, 0.12947 ], "start_rotation": [ 0, 0.97559, 0, -0.21959 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.04466, "euclidean_distance": 5.71024, "closest_goal_object_id": 119, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ 5.26041, 0.18682, 4.32088 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_chest_of_drawers", "start_potision_viewpoint_id": "c51b92525949496b94fdde3b4be91ede", "path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", "c657ac66dec0483683d0d6356992b868", "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3", "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "1e61d22315c945378096f3055645d9e1", "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", "f9e969d895654fb5b82a1366e0b72762", "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ], "refined_path": [ "c51b92525949496b94fdde3b4be91ede", "6ffda5b4b3394a4c8f79e157a2d3682d", "3a4c65b97ebb4b4fb888a262586c3fa7", "c657ac66dec0483683d0d6356992b868", "0_edge_26_newN_1", [ "c657ac66dec0483683d0d6356992b868" ], "533a4cd1505a486fa8801bb3aa38f2e3", "91c5afdf381d439380d3ca8d6eb27b03", "fae6e14f539d49e6ae5007da3497e6fa", [ "91c5afdf381d439380d3ca8d6eb27b03", "533a4cd1505a486fa8801bb3aa38f2e3" ], "4385dfc7f81c413b86bb06658c1ff5c7", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", [ "1e61d22315c945378096f3055645d9e1" ], "4dcc93d2006646e19f9b2748dcb4f860", "f9e969d895654fb5b82a1366e0b72762", "0_edge_34_newN_1", [ "f9e969d895654fb5b82a1366e0b72762" ], "0_edge_29_newN_0", "57bdea1f5113402d9b4a65450e030424" ] }, { "episode_id": "A272X64FOZFYLB:3G2UL9A02FHIHKS2G0XB265EX5176V", "scene_id": "mp3d/i5noydFURQK/i5noydFURQK.glb", "start_position": [ 1.10059, 0.18682, 6.94935 ], "start_rotation": [ 0, 0.95853, 0, 0.28499 ], "object_category": "sofa", "info": { "geodesic_distance": 19.23833, "euclidean_distance": 5.16107, "closest_goal_object_id": 176, "navigation_bounds": [ [ -3.83134, -3.41318, -1.2683 ], [ 6.93098, 4.44851, 11.17288 ] ], "best_viewpoint_position": [ -0.81774, -3.21318, 3.62624 ] }, "goals": [], "goals_key": "i5noydFURQK.glb_sofa", "start_potision_viewpoint_id": "4dcc93d2006646e19f9b2748dcb4f860", "path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", "f533db485c9c4a72b7b456bbc6ea5d07", "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", "0_edge_46_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", "e80f0f3dbb31423d890e2c2e42759bd1", "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ], "refined_path": [ "4dcc93d2006646e19f9b2748dcb4f860", "1e61d22315c945378096f3055645d9e1", "5062afb29ed34159a1e05c60e6cf6585", "0_edge_49_newN_0", "dd4e4342c9d849c6881d1e4ba1b816da", "0bc53661f71543df85e5499ea85f74c7", "e2de0f25e4f2451c82292a347d3a5f55", "d9d2484fd1b44448b04b6eadf278d9db", "871d8081c12f4c8585e62515f441d69a", "6e136e11116740a6a49af82502f51cee", "f533db485c9c4a72b7b456bbc6ea5d07", "0_edge_74_newN_0", [ "f533db485c9c4a72b7b456bbc6ea5d07" ], "a0624e5f721b4283bbf4455ebc882674", "0_edge_46_newN_1", "0_edge_46_newN_0", "acc9d5c4eaa8426cb12d58d14e47c6f6", [ "0_edge_46_newN_0" ], "e80f0f3dbb31423d890e2c2e42759bd1", "0_edge_80_newN_0", [ "e80f0f3dbb31423d890e2c2e42759bd1" ], "27e1974cf8af461e90d0f5124a665654", "075307518bc2495498609ee2ff6dd003", "0_edge_44_newN_0", "0_edge_42_newN_1", "c3cbc9cde04b4568aad232bf17a0bc1e" ] } ]