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- annotations/task-0027/episode_00270060.json +206 -717
- annotations/task-0027/episode_00270120.json +203 -711
- annotations/task-0027/episode_00270240.json +193 -672
- annotations/task-0027/episode_00270320.json +193 -672
- annotations/task-0027/episode_00270650.json +193 -672
- annotations/task-0027/episode_00271010.json +195 -682
- annotations/task-0027/episode_00271120.json +173 -605
- annotations/task-0027/episode_00272270.json +209 -730
- annotations/task-0027/episode_00272860.json +199 -691
- annotations/task-0029/episode_00290010.json +397 -1344
- annotations/task-0029/episode_00290030.json +391 -1325
- annotations/task-0029/episode_00290040.json +403 -1363
- annotations/task-0029/episode_00290070.json +385 -1328
- annotations/task-0029/episode_00290080.json +391 -1325
- annotations/task-0029/episode_00290090.json +385 -1306
- annotations/task-0029/episode_00290100.json +373 -1290
- annotations/task-0029/episode_00290120.json +391 -1325
- annotations/task-0029/episode_00290130.json +397 -1344
- annotations/task-0029/episode_00290150.json +371 -1280
- annotations/task-0029/episode_00290160.json +408 -1410
- annotations/task-0029/episode_00290180.json +373 -1290
- annotations/task-0029/episode_00290210.json +371 -1280
- annotations/task-0029/episode_00290220.json +385 -1328
- annotations/task-0029/episode_00290240.json +363 -1251
- annotations/task-0029/episode_00290250.json +391 -1325
- annotations/task-0029/episode_00290260.json +393 -1340
- annotations/task-0029/episode_00290270.json +391 -1347
- annotations/task-0029/episode_00290280.json +383 -1296
- annotations/task-0029/episode_00290300.json +411 -1414
- annotations/task-0029/episode_00290310.json +397 -1344
- annotations/task-0029/episode_00290320.json +385 -1306
- annotations/task-0029/episode_00290340.json +391 -1347
- annotations/task-0029/episode_00290370.json +371 -1280
- annotations/task-0029/episode_00290380.json +405 -1373
- annotations/task-0029/episode_00290390.json +387 -1338
- annotations/task-0029/episode_00290400.json +395 -1356
- annotations/task-0029/episode_00290410.json +391 -1325
- annotations/task-0029/episode_00290420.json +403 -1363
- annotations/task-0029/episode_00290450.json +385 -1328
- annotations/task-0029/episode_00290460.json +385 -1306
- annotations/task-0029/episode_00290480.json +391 -1325
- annotations/task-0029/episode_00290490.json +373 -1290
- annotations/task-0029/episode_00290500.json +393 -1339
- annotations/task-0029/episode_00290510.json +406 -1389
- annotations/task-0029/episode_00290520.json +379 -1309
- annotations/task-0029/episode_00290550.json +387 -1338
- annotations/task-0029/episode_00290560.json +400 -1370
- annotations/task-0029/episode_00290570.json +379 -1309
- annotations/task-0029/episode_00290580.json +391 -1325
- annotations/task-0029/episode_00290590.json +392 -1326
annotations/task-0027/episode_00270060.json
CHANGED
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@@ -3,887 +3,376 @@
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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|
| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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|
| 213 |
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| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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| 218 |
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| 219 |
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| 220 |
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|
| 221 |
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| 222 |
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|
| 223 |
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| 224 |
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| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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|
| 239 |
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|
| 240 |
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| 241 |
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| 242 |
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| 243 |
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| 244 |
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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| 254 |
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| 255 |
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| 256 |
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| 257 |
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| 258 |
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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|
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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| 290 |
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|
| 291 |
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| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
|
|
|
|
|
|
| 296 |
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|
| 297 |
{
|
| 298 |
"skill_idx": 24,
|
| 299 |
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"skill_id": [4],
|
| 300 |
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"skill_description": ["place in"],
|
| 301 |
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|
| 302 |
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|
| 303 |
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| 304 |
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| 305 |
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| 306 |
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|
| 307 |
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"skill_type": ["uncoordinated"]
|
|
|
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|
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
{
|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
"manipulating_object_id": [],
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| 317 |
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| 318 |
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| 319 |
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|
| 321 |
},
|
| 322 |
{
|
| 323 |
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|
| 324 |
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"primitive_id": [2, 98],
|
| 325 |
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| 326 |
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|
| 327 |
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| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
|
|
| 332 |
},
|
| 333 |
{
|
| 334 |
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|
| 335 |
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"primitive_id": [2, 3],
|
| 336 |
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"primitive_description": ["pick up from", "place on"],
|
| 337 |
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|
| 338 |
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|
| 339 |
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|
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|
|
|
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|
|
| 340 |
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|
| 341 |
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"frame_duration": [6271, 10311],
|
| 342 |
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|
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|
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|
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|
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|
| 343 |
},
|
| 344 |
{
|
| 345 |
"primitive_idx": 3,
|
| 346 |
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"primitive_id": [2, 3],
|
| 347 |
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"primitive_description": ["pick up from", "place on"],
|
| 348 |
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|
| 349 |
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|
| 350 |
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|
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|
|
|
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|
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|
|
| 351 |
"spatial_prefix": [],
|
| 352 |
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"frame_duration": [7923, 10752],
|
| 353 |
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|
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|
|
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|
|
|
|
|
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|
|
|
|
| 354 |
},
|
| 355 |
{
|
| 356 |
"primitive_idx": 4,
|
| 357 |
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"primitive_id": [2, 3],
|
| 358 |
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"primitive_description": ["pick up from", "place on"],
|
| 359 |
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|
| 360 |
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|
| 361 |
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|
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|
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|
| 362 |
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|
| 363 |
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|
| 364 |
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|
|
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|
| 365 |
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|
| 366 |
{
|
| 367 |
"primitive_idx": 5,
|
| 368 |
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|
| 369 |
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"primitive_description": ["pick up from", "place in"],
|
| 370 |
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|
| 371 |
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|
| 372 |
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 373 |
"spatial_prefix": [],
|
| 374 |
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|
| 375 |
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
| 376 |
}
|
| 377 |
]
|
| 378 |
}
|
annotations/task-0027/episode_00270120.json
CHANGED
|
@@ -3,873 +3,365 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 16050,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
16050
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_226"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
108
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_226",
|
| 47 |
-
"robot"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
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|
| 52 |
-
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|
| 53 |
-
"spatial_prefix": [
|
| 54 |
-
[
|
| 55 |
-
"",
|
| 56 |
-
"near"
|
| 57 |
-
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|
| 58 |
-
],
|
| 59 |
-
"frame_duration": [
|
| 60 |
-
108,
|
| 61 |
-
1194
|
| 62 |
-
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|
| 63 |
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|
| 64 |
-
"skill_type": [
|
| 65 |
-
"uncoordinated"
|
| 66 |
-
]
|
| 67 |
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|
| 68 |
{
|
| 69 |
"skill_idx": 2,
|
| 70 |
-
"skill_id": [
|
| 71 |
-
|
| 72 |
-
],
|
| 73 |
-
"
|
| 74 |
-
|
| 75 |
-
],
|
| 76 |
-
"
|
| 77 |
-
[
|
| 78 |
-
"hamper_226",
|
| 79 |
-
"robot"
|
| 80 |
-
]
|
| 81 |
-
],
|
| 82 |
-
"manipulating_object_id": [
|
| 83 |
-
"hamper_226"
|
| 84 |
-
],
|
| 85 |
-
"spatial_prefix": [
|
| 86 |
-
[
|
| 87 |
-
"",
|
| 88 |
-
"away"
|
| 89 |
-
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|
| 90 |
-
],
|
| 91 |
-
"frame_duration": [
|
| 92 |
-
1194,
|
| 93 |
-
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|
| 94 |
-
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|
| 95 |
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|
| 96 |
-
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|
| 97 |
-
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|
| 98 |
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|
| 99 |
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|
| 100 |
{
|
| 101 |
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|
| 102 |
-
"skill_id": [
|
| 103 |
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|
| 104 |
-
],
|
| 105 |
-
"skill_description": [
|
| 106 |
-
"move to"
|
| 107 |
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|
| 108 |
-
"object_id": [
|
| 109 |
-
[
|
| 110 |
-
"sliding_door_tprpvb_10"
|
| 111 |
-
]
|
| 112 |
-
],
|
| 113 |
"manipulating_object_id": [],
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|
|
|
| 114 |
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|
| 115 |
-
"frame_duration": [
|
| 116 |
-
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|
| 117 |
-
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|
| 118 |
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|
| 119 |
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|
| 120 |
-
"skill_type": [
|
| 121 |
-
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|
| 122 |
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]
|
| 123 |
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|
| 124 |
{
|
| 125 |
"skill_idx": 4,
|
| 126 |
-
"skill_id": [
|
| 127 |
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|
| 128 |
-
],
|
| 129 |
-
"skill_description": [
|
| 130 |
-
"open door"
|
| 131 |
-
],
|
| 132 |
-
"object_id": [
|
| 133 |
-
[
|
| 134 |
-
"sliding_door_tprpvb_10"
|
| 135 |
-
]
|
| 136 |
-
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
-
2382,
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_type": [
|
| 145 |
-
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|
| 146 |
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]
|
| 147 |
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|
| 148 |
{
|
| 149 |
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|
| 150 |
-
"skill_id": [
|
| 151 |
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|
| 152 |
-
],
|
| 153 |
-
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|
| 154 |
-
"move to"
|
| 155 |
-
],
|
| 156 |
-
"object_id": [
|
| 157 |
-
[
|
| 158 |
-
"bottle_of_detergent_227"
|
| 159 |
-
]
|
| 160 |
-
],
|
| 161 |
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|
|
|
|
| 162 |
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|
| 163 |
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"frame_duration": [
|
| 164 |
-
4074,
|
| 165 |
-
4296
|
| 166 |
-
],
|
| 167 |
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|
| 168 |
-
"skill_type": [
|
| 169 |
-
"navigation"
|
| 170 |
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|
| 171 |
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|
| 172 |
{
|
| 173 |
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|
| 174 |
-
"skill_id": [
|
| 175 |
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|
| 176 |
-
],
|
| 177 |
-
"
|
| 178 |
-
|
| 179 |
-
],
|
| 180 |
-
"object_id": [
|
| 181 |
-
[
|
| 182 |
-
"bottle_of_detergent_227",
|
| 183 |
-
"hamper_226"
|
| 184 |
-
]
|
| 185 |
-
],
|
| 186 |
-
"manipulating_object_id": [
|
| 187 |
-
"bottle_of_detergent_227"
|
| 188 |
-
],
|
| 189 |
"spatial_prefix": [],
|
| 190 |
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"frame_duration": [
|
| 191 |
-
4297,
|
| 192 |
-
5166
|
| 193 |
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|
| 194 |
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|
| 195 |
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"skill_type": [
|
| 196 |
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"uncoordinated"
|
| 197 |
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]
|
| 198 |
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|
| 199 |
{
|
| 200 |
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|
| 201 |
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"skill_id": [
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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"move to"
|
| 206 |
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|
| 207 |
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|
| 208 |
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[
|
| 209 |
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"bottle_of_detergent_228"
|
| 210 |
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]
|
| 211 |
-
],
|
| 212 |
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|
|
|
|
| 213 |
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|
| 214 |
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"frame_duration": [
|
| 215 |
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5167,
|
| 216 |
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5274
|
| 217 |
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|
| 218 |
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|
| 219 |
-
"skill_type": [
|
| 220 |
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"navigation"
|
| 221 |
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]
|
| 222 |
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|
| 223 |
{
|
| 224 |
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|
| 225 |
-
"skill_id": [
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| 226 |
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|
| 227 |
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],
|
| 228 |
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| 229 |
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|
| 230 |
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],
|
| 231 |
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"object_id": [
|
| 232 |
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[
|
| 233 |
-
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|
| 234 |
-
"hamper_226"
|
| 235 |
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]
|
| 236 |
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|
| 237 |
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"manipulating_object_id": [
|
| 238 |
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"bottle_of_detergent_228"
|
| 239 |
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],
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 198 |
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| 199 |
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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|
| 205 |
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| 207 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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| 220 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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|
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|
| 230 |
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| 231 |
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| 233 |
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| 234 |
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|
| 236 |
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| 238 |
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|
| 240 |
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|
| 241 |
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| 244 |
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| 245 |
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| 246 |
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|
| 247 |
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|
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|
| 248 |
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|
| 249 |
{
|
| 250 |
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|
| 251 |
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|
| 252 |
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|
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|
| 255 |
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|
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|
| 258 |
"mp_ef": [],
|
| 259 |
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"skill_type": ["uncoordinated"]
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|
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|
|
| 260 |
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|
| 261 |
{
|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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| 268 |
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| 269 |
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|
| 270 |
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| 271 |
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|
| 272 |
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| 273 |
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| 274 |
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| 276 |
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| 277 |
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|
| 278 |
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| 279 |
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| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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| 292 |
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| 293 |
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| 294 |
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|
| 295 |
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|
| 296 |
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| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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| 302 |
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|
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|
| 304 |
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|
| 305 |
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| 306 |
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| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
{
|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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| 317 |
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| 318 |
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|
| 321 |
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|
| 322 |
{
|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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| 338 |
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| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
{
|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
{
|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 362 |
"spatial_prefix": [],
|
| 363 |
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|
| 364 |
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|
|
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|
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|
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|
|
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|
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|
|
|
|
| 365 |
}
|
| 366 |
]
|
| 367 |
}
|
annotations/task-0027/episode_00270240.json
CHANGED
|
@@ -3,832 +3,353 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 15900,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
15900
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_226"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
351
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_226",
|
| 47 |
-
"robot"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"hamper_226"
|
| 52 |
-
],
|
| 53 |
-
"spatial_prefix": [
|
| 54 |
-
[
|
| 55 |
-
"",
|
| 56 |
-
"near"
|
| 57 |
-
]
|
| 58 |
-
],
|
| 59 |
-
"frame_duration": [
|
| 60 |
-
352,
|
| 61 |
-
1665
|
| 62 |
-
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|
| 63 |
"mp_ef": [],
|
| 64 |
-
"skill_type": [
|
| 65 |
-
"uncoordinated"
|
| 66 |
-
]
|
| 67 |
},
|
| 68 |
{
|
| 69 |
"skill_idx": 2,
|
| 70 |
-
"skill_id": [
|
| 71 |
-
|
| 72 |
-
],
|
| 73 |
-
"skill_description": [
|
| 74 |
-
"move to"
|
| 75 |
-
],
|
| 76 |
-
"object_id": [
|
| 77 |
-
[
|
| 78 |
-
"sliding_door_tprpvb_10"
|
| 79 |
-
]
|
| 80 |
-
],
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 134 |
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| 140 |
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| 144 |
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| 164 |
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| 174 |
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| 176 |
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| 178 |
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| 180 |
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| 182 |
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| 188 |
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| 196 |
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| 200 |
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| 212 |
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| 214 |
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| 215 |
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| 216 |
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| 218 |
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| 232 |
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| 236 |
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| 256 |
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| 264 |
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| 266 |
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| 276 |
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| 280 |
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| 282 |
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| 283 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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| 290 |
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| 292 |
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| 293 |
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| 294 |
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| 295 |
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| 296 |
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| 297 |
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| 299 |
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| 300 |
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| 301 |
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| 302 |
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| 304 |
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| 309 |
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| 311 |
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| 315 |
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| 317 |
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| 320 |
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| 322 |
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| 324 |
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| 328 |
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| 331 |
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| 332 |
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| 333 |
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| 335 |
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| 339 |
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| 342 |
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| 344 |
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| 350 |
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|
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|
| 353 |
}
|
| 354 |
]
|
| 355 |
}
|
annotations/task-0027/episode_00270320.json
CHANGED
|
@@ -3,832 +3,353 @@
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|
| 3 |
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| 19 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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| 91 |
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 104 |
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| 110 |
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| 116 |
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| 120 |
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| 121 |
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| 128 |
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| 132 |
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| 138 |
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| 140 |
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| 143 |
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| 144 |
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| 146 |
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| 164 |
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| 170 |
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| 212 |
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| 216 |
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| 217 |
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| 219 |
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| 220 |
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| 222 |
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| 223 |
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| 226 |
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| 230 |
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| 234 |
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| 236 |
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|
| 240 |
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| 241 |
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| 244 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 254 |
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| 256 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 270 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 276 |
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|
| 277 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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| 289 |
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| 290 |
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| 292 |
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| 293 |
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| 294 |
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| 295 |
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| 296 |
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|
| 297 |
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|
| 298 |
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| 299 |
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|
| 300 |
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| 301 |
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|
| 302 |
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| 304 |
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| 309 |
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| 310 |
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|
| 311 |
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| 312 |
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|
| 313 |
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|
| 315 |
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| 317 |
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| 320 |
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| 322 |
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| 325 |
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"object_id": [["box_of_sanitary_napkins_224", "hamper_226"], ["box_of_sanitary_napkins_224", "shelf_fjozhc_0"]],
|
| 326 |
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|
| 327 |
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"memory_prefix": [],
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 328 |
"spatial_prefix": [],
|
| 329 |
+
"frame_duration": [8287, 13500],
|
| 330 |
+
"skill_idxes": [11, 12, 15, 17]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 331 |
},
|
| 332 |
{
|
| 333 |
"primitive_idx": 3,
|
| 334 |
+
"primitive_id": [2, 3],
|
| 335 |
+
"primitive_description": ["pick up from", "place on"],
|
| 336 |
+
"object_id": [["soap_dispenser_223", "hamper_225"], ["soap_dispenser_223", "multi_station_furniture_sink_upwldu_0"]],
|
| 337 |
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"manipulating_object_id": ["soap_dispenser_223", "soap_dispenser_223"],
|
| 338 |
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"memory_prefix": [],
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 339 |
"spatial_prefix": [],
|
| 340 |
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"frame_duration": [10513, 13128],
|
| 341 |
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"skill_idxes": [13, 14, 15, 16]
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 342 |
},
|
| 343 |
{
|
| 344 |
"primitive_idx": 4,
|
| 345 |
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"primitive_id": [2, 4],
|
| 346 |
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"primitive_description": ["pick up from", "place in"],
|
| 347 |
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"object_id": [[["tube_of_toothpaste_222", "toothbrush_221"], "hamper_225"], [["toothbrush_221", "tube_of_toothpaste_222"], "coffee_cup_220"]],
|
| 348 |
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"manipulating_object_id": [["tube_of_toothpaste_222", "toothbrush_221"], ["toothbrush_221", "tube_of_toothpaste_222"]],
|
| 349 |
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"memory_prefix": [],
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 350 |
"spatial_prefix": [],
|
| 351 |
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"frame_duration": [13501, 18720],
|
| 352 |
+
"skill_idxes": [18, 19, 20, 21, 22, 23]
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 353 |
}
|
| 354 |
]
|
| 355 |
}
|
annotations/task-0027/episode_00270650.json
CHANGED
|
@@ -3,832 +3,353 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
-
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|
| 7 |
-
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|
| 8 |
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14047
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
{
|
| 13 |
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|
| 14 |
-
"skill_id": [
|
| 15 |
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|
| 16 |
-
],
|
| 17 |
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"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_226"
|
| 23 |
-
]
|
| 24 |
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|
| 25 |
"manipulating_object_id": [],
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|
|
|
| 26 |
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|
| 27 |
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|
| 28 |
-
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|
| 29 |
-
269
|
| 30 |
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|
| 31 |
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|
| 32 |
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"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
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|
| 35 |
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|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
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|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_226",
|
| 47 |
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"robot"
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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[
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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[
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
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|
| 82 |
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|
| 83 |
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|
| 84 |
-
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|
| 85 |
-
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
{
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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|
| 101 |
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[
|
| 102 |
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| 103 |
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| 104 |
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|
| 106 |
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| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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| 124 |
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|
| 125 |
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[
|
| 126 |
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|
| 127 |
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|
| 128 |
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| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 136 |
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| 138 |
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| 140 |
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| 141 |
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|
| 144 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 168 |
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| 169 |
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| 171 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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| 182 |
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| 183 |
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| 188 |
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|
| 190 |
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| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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|
| 195 |
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|
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| 218 |
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| 219 |
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|
| 220 |
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| 221 |
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|
| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 242 |
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| 245 |
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|
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| 253 |
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| 255 |
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|
| 257 |
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| 259 |
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| 268 |
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|
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| 272 |
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| 273 |
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|
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| 277 |
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| 278 |
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| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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| 287 |
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| 288 |
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| 290 |
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|
| 291 |
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|
| 292 |
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| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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| 299 |
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|
| 300 |
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|
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
-
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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| 314 |
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| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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"skill_type": [
|
| 320 |
-
"uncoordinated"
|
| 321 |
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|
| 322 |
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|
| 323 |
{
|
| 324 |
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|
| 325 |
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"skill_id": [
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| 326 |
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|
| 327 |
-
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|
| 328 |
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"skill_description": [
|
| 329 |
-
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|
| 330 |
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|
| 331 |
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| 332 |
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[
|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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| 337 |
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|
| 343 |
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| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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| 348 |
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|
| 349 |
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| 350 |
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|
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|
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|
| 355 |
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| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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| 362 |
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|
| 363 |
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| 364 |
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| 365 |
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| 366 |
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|
| 367 |
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| 368 |
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|
| 369 |
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|
| 370 |
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| 371 |
-
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|
| 372 |
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|
| 373 |
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|
| 374 |
{
|
| 375 |
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|
| 376 |
-
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| 377 |
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|
| 378 |
-
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|
| 379 |
-
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| 380 |
-
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|
| 381 |
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|
| 382 |
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|
| 383 |
-
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| 384 |
-
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
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|
| 388 |
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| 389 |
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| 390 |
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|
| 391 |
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| 392 |
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| 393 |
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|
| 394 |
-
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| 395 |
-
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|
| 396 |
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|
| 397 |
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|
| 398 |
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|
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|
| 30 |
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|
| 31 |
+
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|
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| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
+
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|
| 36 |
+
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|
| 37 |
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|
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| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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|
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|
| 44 |
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|
| 45 |
{
|
| 46 |
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|
| 47 |
+
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|
| 48 |
+
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|
| 49 |
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|
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
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|
| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
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| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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|
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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| 102 |
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|
| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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|
| 197 |
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| 198 |
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|
| 199 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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| 256 |
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|
| 257 |
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| 258 |
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|
| 259 |
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| 260 |
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|
| 261 |
{
|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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| 268 |
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| 269 |
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|
| 270 |
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|
| 271 |
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| 272 |
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|
| 273 |
{
|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
{
|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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| 290 |
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| 291 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 292 |
"spatial_prefix": [],
|
| 293 |
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"frame_duration": [13405, 14047],
|
|
|
|
|
|
|
|
|
|
| 294 |
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|
| 295 |
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"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
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"primitive_id": [10],
|
| 302 |
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"primitive_description": ["open door"],
|
| 303 |
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"object_id": [["sliding_door_tprpvb_10"]],
|
|
|
|
|
|
|
|
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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| 308 |
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|
| 309 |
},
|
| 310 |
{
|
| 311 |
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|
| 312 |
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"primitive_id": [2, 98],
|
| 313 |
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|
| 314 |
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|
| 315 |
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| 316 |
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|
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|
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|
| 317 |
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|
| 318 |
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"frame_duration": [3033, 6251],
|
| 319 |
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"skill_idxes": [4, 5, 6, 7, 8, 9]
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|
|
|
| 320 |
},
|
| 321 |
{
|
| 322 |
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|
| 323 |
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"primitive_id": [2, 3],
|
| 324 |
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"primitive_description": ["pick up from", "place on"],
|
| 325 |
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| 326 |
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|
| 327 |
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|
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|
|
|
|
|
|
|
|
|
|
| 328 |
"spatial_prefix": [],
|
| 329 |
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"frame_duration": [6251, 9998],
|
| 330 |
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"skill_idxes": [10, 11, 14, 16]
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
| 331 |
},
|
| 332 |
{
|
| 333 |
"primitive_idx": 3,
|
| 334 |
+
"primitive_id": [2, 3],
|
| 335 |
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"primitive_description": ["pick up from", "place on"],
|
| 336 |
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|
| 337 |
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|
| 338 |
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|
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|
|
|
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|
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|
|
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|
|
|
|
| 339 |
"spatial_prefix": [],
|
| 340 |
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"frame_duration": [7639, 9654],
|
| 341 |
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|
|
|
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|
|
| 342 |
},
|
| 343 |
{
|
| 344 |
"primitive_idx": 4,
|
| 345 |
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"primitive_id": [2, 4],
|
| 346 |
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|
| 347 |
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|
| 348 |
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"manipulating_object_id": [["toothbrush_221", "tube_of_toothpaste_222"], ["toothbrush_221", "tube_of_toothpaste_222"]],
|
| 349 |
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 350 |
"spatial_prefix": [],
|
| 351 |
+
"frame_duration": [9998, 14047],
|
| 352 |
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
| 353 |
}
|
| 354 |
]
|
| 355 |
}
|
annotations/task-0027/episode_00271010.json
CHANGED
|
@@ -3,840 +3,353 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 15540,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
15540
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
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|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_225"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
354
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_225",
|
| 47 |
-
"robot"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
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|
| 52 |
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|
| 53 |
-
"spatial_prefix": [
|
| 54 |
-
[
|
| 55 |
-
"",
|
| 56 |
-
"away"
|
| 57 |
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|
| 58 |
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|
| 59 |
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"frame_duration": [
|
| 60 |
-
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|
| 61 |
-
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|
| 62 |
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|
| 63 |
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|
| 64 |
-
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|
| 65 |
-
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|
| 66 |
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|
| 67 |
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|
| 68 |
{
|
| 69 |
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|
| 70 |
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"skill_id": [
|
| 71 |
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|
| 72 |
-
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|
| 73 |
-
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|
| 74 |
-
"move to"
|
| 75 |
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|
| 76 |
-
"object_id": [
|
| 77 |
-
[
|
| 78 |
-
"sliding_door_tprpvb_10"
|
| 79 |
-
]
|
| 80 |
-
],
|
| 81 |
"manipulating_object_id": [],
|
|
|
|
| 82 |
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|
| 83 |
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"frame_duration": [
|
| 84 |
-
909,
|
| 85 |
-
1482
|
| 86 |
-
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|
| 87 |
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|
| 88 |
-
"skill_type": [
|
| 89 |
-
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|
| 90 |
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|
| 91 |
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|
| 92 |
{
|
| 93 |
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|
| 94 |
-
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|
| 95 |
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|
| 96 |
-
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"object_id": [
|
| 101 |
-
[
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
-
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
{
|
| 117 |
"skill_idx": 4,
|
| 118 |
-
"skill_id": [
|
| 119 |
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|
| 120 |
-
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|
| 121 |
-
"skill_description": [
|
| 122 |
-
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|
| 123 |
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|
| 124 |
-
"object_id": [
|
| 125 |
-
[
|
| 126 |
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|
| 127 |
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]
|
| 128 |
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|
| 129 |
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|
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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"object_id": [
|
| 149 |
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[
|
| 150 |
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|
| 151 |
-
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|
| 152 |
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|
| 153 |
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|
| 154 |
-
"manipulating_object_id": [
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
-
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|
| 160 |
-
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
-
"object_id": [
|
| 176 |
-
[
|
| 177 |
-
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|
| 178 |
-
"hamper_226"
|
| 179 |
-
]
|
| 180 |
-
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|
| 181 |
-
"manipulating_object_id": [
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [
|
| 186 |
-
4230,
|
| 187 |
-
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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"uncoordinated"
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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"object_id": [
|
| 203 |
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| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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|
| 210 |
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4665,
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| 211 |
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|
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
{
|
| 219 |
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|
| 220 |
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"skill_id": [
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
-
],
|
| 226 |
-
"object_id": [
|
| 227 |
-
[
|
| 228 |
-
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|
| 229 |
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|
| 230 |
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]
|
| 231 |
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|
| 232 |
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"manipulating_object_id": [
|
| 233 |
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| 234 |
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| 235 |
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| 240 |
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| 241 |
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|
| 242 |
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|
| 243 |
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| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
-
"object_id": [
|
| 254 |
-
[
|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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|
| 270 |
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| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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"skill_id": [
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| 275 |
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|
| 276 |
-
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|
| 277 |
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|
| 278 |
-
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
-
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|
| 283 |
-
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|
| 284 |
-
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|
| 285 |
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|
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|
| 286 |
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| 287 |
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|
| 288 |
-
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|
| 289 |
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| 290 |
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|
| 291 |
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|
| 292 |
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| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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| 299 |
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|
| 300 |
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| 301 |
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|
| 303 |
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|
| 304 |
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"object_id": [
|
| 305 |
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[
|
| 306 |
-
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|
| 307 |
-
"hamper_225"
|
| 308 |
-
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|
| 309 |
-
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|
| 310 |
-
"manipulating_object_id": [
|
| 311 |
-
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|
| 312 |
-
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|
| 807 |
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| 809 |
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|
| 810 |
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|
| 811 |
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|
| 812 |
-
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| 813 |
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|
| 814 |
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|
| 820 |
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|
| 244 |
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|
| 245 |
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 246 |
"mp_ef": [],
|
| 247 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 248 |
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|
| 249 |
{
|
| 250 |
"skill_idx": 20,
|
| 251 |
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|
| 252 |
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|
| 253 |
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"object_id": [["tube_of_toothpaste_222", "hamper_225"]],
|
| 254 |
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|
| 255 |
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|
| 256 |
"spatial_prefix": [],
|
| 257 |
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|
| 258 |
"mp_ef": [],
|
| 259 |
+
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|
|
|
|
|
|
|
| 260 |
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|
| 261 |
{
|
| 262 |
"skill_idx": 21,
|
| 263 |
+
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|
| 264 |
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"skill_description": ["move to"],
|
| 265 |
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"object_id": [["coffee_cup_220"]],
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
| 266 |
"manipulating_object_id": [],
|
| 267 |
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|
| 268 |
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|
| 269 |
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|
|
|
|
|
|
|
|
|
|
| 270 |
"mp_ef": [],
|
| 271 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 272 |
},
|
| 273 |
{
|
| 274 |
"skill_idx": 22,
|
| 275 |
+
"skill_id": [4],
|
| 276 |
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"skill_description": ["place in"],
|
| 277 |
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"object_id": [["toothbrush_221", "coffee_cup_220"]],
|
| 278 |
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"manipulating_object_id": ["toothbrush_221"],
|
| 279 |
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|
| 280 |
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|
| 281 |
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"frame_duration": [14787, 15102],
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|
| 282 |
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|
| 283 |
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"skill_type": ["uncoordinated"]
|
|
|
|
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|
|
| 284 |
},
|
| 285 |
{
|
| 286 |
"skill_idx": 23,
|
| 287 |
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"skill_id": [4],
|
| 288 |
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"skill_description": ["place in"],
|
| 289 |
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"object_id": [["tube_of_toothpaste_222", "coffee_cup_220"]],
|
| 290 |
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"manipulating_object_id": ["tube_of_toothpaste_222"],
|
| 291 |
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
| 292 |
"spatial_prefix": [],
|
| 293 |
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"frame_duration": [15102, 15540],
|
|
|
|
|
|
|
|
|
|
| 294 |
"mp_ef": [],
|
| 295 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 296 |
}
|
| 297 |
],
|
| 298 |
"primitive_annotation": [
|
| 299 |
{
|
| 300 |
"primitive_idx": 0,
|
| 301 |
+
"primitive_id": [10],
|
| 302 |
+
"primitive_description": ["open door"],
|
| 303 |
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"object_id": [["sliding_door_tprpvb_10"]],
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
| 304 |
"manipulating_object_id": [],
|
| 305 |
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|
| 306 |
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|
| 307 |
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"frame_duration": [0, 2964],
|
| 308 |
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|
|
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|
|
|
|
| 309 |
},
|
| 310 |
{
|
| 311 |
"primitive_idx": 1,
|
| 312 |
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"primitive_id": [2, 98],
|
| 313 |
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"primitive_description": ["pick up from", "place under"],
|
| 314 |
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"object_id": [[["bottle_of_detergent_227", "bottle_of_detergent_228"], "hamper_226"], [["bottle_of_detergent_228", "bottle_of_detergent_227"], "multi_station_furniture_sink_upwldu_0"]],
|
| 315 |
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|
| 316 |
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"memory_prefix": [],
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 317 |
"spatial_prefix": [],
|
| 318 |
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"frame_duration": [2964, 6162],
|
| 319 |
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"skill_idxes": [4, 5, 6, 7, 8, 9]
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
| 320 |
},
|
| 321 |
{
|
| 322 |
"primitive_idx": 2,
|
| 323 |
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"primitive_id": [2, 3],
|
| 324 |
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"primitive_description": ["pick up from", "place on"],
|
| 325 |
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|
| 326 |
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|
| 327 |
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
| 328 |
"spatial_prefix": [],
|
| 329 |
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|
| 330 |
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
| 331 |
},
|
| 332 |
{
|
| 333 |
"primitive_idx": 3,
|
| 334 |
+
"primitive_id": [2, 3],
|
| 335 |
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"primitive_description": ["pick up from", "place on"],
|
| 336 |
+
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|
| 337 |
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|
| 338 |
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
| 339 |
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|
| 340 |
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"frame_duration": [7563, 9903],
|
| 341 |
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|
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|
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|
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|
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|
|
|
|
| 342 |
},
|
| 343 |
{
|
| 344 |
"primitive_idx": 4,
|
| 345 |
+
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|
| 346 |
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|
| 347 |
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|
| 348 |
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"manipulating_object_id": [["toothbrush_221", "tube_of_toothpaste_222"], ["toothbrush_221", "tube_of_toothpaste_222"]],
|
| 349 |
+
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 350 |
"spatial_prefix": [],
|
| 351 |
+
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|
| 352 |
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 353 |
}
|
| 354 |
]
|
| 355 |
}
|
annotations/task-0027/episode_00271120.json
CHANGED
|
@@ -3,749 +3,317 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 13224,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
13224
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"sliding_door_tprpvb_10"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
576
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"skill_description": [
|
| 42 |
-
"open door"
|
| 43 |
-
],
|
| 44 |
-
"object_id": [
|
| 45 |
-
[
|
| 46 |
-
"sliding_door_tprpvb_10"
|
| 47 |
-
]
|
| 48 |
-
],
|
| 49 |
"manipulating_object_id": [],
|
|
|
|
| 50 |
"spatial_prefix": [],
|
| 51 |
-
"frame_duration": [
|
| 52 |
-
576,
|
| 53 |
-
1707
|
| 54 |
-
],
|
| 55 |
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|
| 56 |
-
"skill_type": [
|
| 57 |
-
"uncoordinated"
|
| 58 |
-
]
|
| 59 |
},
|
| 60 |
{
|
| 61 |
"skill_idx": 2,
|
| 62 |
-
"skill_id": [
|
| 63 |
-
|
| 64 |
-
],
|
| 65 |
-
"skill_description": [
|
| 66 |
-
"move to"
|
| 67 |
-
],
|
| 68 |
-
"object_id": [
|
| 69 |
-
[
|
| 70 |
-
"bottle_of_detergent_228"
|
| 71 |
-
]
|
| 72 |
-
],
|
| 73 |
"manipulating_object_id": [],
|
|
|
|
| 74 |
"spatial_prefix": [],
|
| 75 |
-
"frame_duration": [
|
| 76 |
-
1707,
|
| 77 |
-
1997
|
| 78 |
-
],
|
| 79 |
"mp_ef": [],
|
| 80 |
-
"skill_type": [
|
| 81 |
-
"navigation"
|
| 82 |
-
]
|
| 83 |
},
|
| 84 |
{
|
| 85 |
"skill_idx": 3,
|
| 86 |
-
"skill_id": [
|
| 87 |
-
|
| 88 |
-
],
|
| 89 |
-
"
|
| 90 |
-
|
| 91 |
-
],
|
| 92 |
-
"object_id": [
|
| 93 |
-
[
|
| 94 |
-
"bottle_of_detergent_228",
|
| 95 |
-
"hamper_226"
|
| 96 |
-
]
|
| 97 |
-
],
|
| 98 |
-
"manipulating_object_id": [
|
| 99 |
-
"bottle_of_detergent_228"
|
| 100 |
-
],
|
| 101 |
"spatial_prefix": [],
|
| 102 |
-
"frame_duration": [
|
| 103 |
-
1997,
|
| 104 |
-
2970
|
| 105 |
-
],
|
| 106 |
"mp_ef": [],
|
| 107 |
-
"skill_type": [
|
| 108 |
-
"uncoordinated"
|
| 109 |
-
]
|
| 110 |
},
|
| 111 |
{
|
| 112 |
"skill_idx": 4,
|
| 113 |
-
"skill_id": [
|
| 114 |
-
|
| 115 |
-
],
|
| 116 |
-
"
|
| 117 |
-
|
| 118 |
-
],
|
| 119 |
-
"object_id": [
|
| 120 |
-
[
|
| 121 |
-
"bottle_of_detergent_227",
|
| 122 |
-
"hamper_226"
|
| 123 |
-
]
|
| 124 |
-
],
|
| 125 |
-
"manipulating_object_id": [
|
| 126 |
-
"bottle_of_detergent_227"
|
| 127 |
-
],
|
| 128 |
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|
| 129 |
-
"frame_duration": [
|
| 130 |
-
2970,
|
| 131 |
-
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|
| 132 |
-
],
|
| 133 |
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|
| 134 |
-
"skill_type": [
|
| 135 |
-
"uncoordinated"
|
| 136 |
-
]
|
| 137 |
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|
| 138 |
{
|
| 139 |
"skill_idx": 5,
|
| 140 |
-
"skill_id": [
|
| 141 |
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|
| 142 |
-
],
|
| 143 |
-
"skill_description": [
|
| 144 |
-
"move to"
|
| 145 |
-
],
|
| 146 |
-
"object_id": [
|
| 147 |
-
[
|
| 148 |
-
"multi_station_furniture_sink_upwldu_0"
|
| 149 |
-
]
|
| 150 |
-
],
|
| 151 |
"manipulating_object_id": [],
|
|
|
|
| 152 |
"spatial_prefix": [],
|
| 153 |
-
"frame_duration": [
|
| 154 |
-
3429,
|
| 155 |
-
3885
|
| 156 |
-
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|
| 157 |
"mp_ef": [],
|
| 158 |
-
"skill_type": [
|
| 159 |
-
"navigation"
|
| 160 |
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]
|
| 161 |
},
|
| 162 |
{
|
| 163 |
"skill_idx": 6,
|
| 164 |
-
"skill_id": [
|
| 165 |
-
|
| 166 |
-
],
|
| 167 |
-
"
|
| 168 |
-
|
| 169 |
-
],
|
| 170 |
-
"object_id": [
|
| 171 |
-
[
|
| 172 |
-
"bottle_of_detergent_227",
|
| 173 |
-
"multi_station_furniture_sink_upwldu_0"
|
| 174 |
-
]
|
| 175 |
-
],
|
| 176 |
-
"manipulating_object_id": [
|
| 177 |
-
"bottle_of_detergent_227"
|
| 178 |
-
],
|
| 179 |
"spatial_prefix": [],
|
| 180 |
-
"frame_duration": [
|
| 181 |
-
3885,
|
| 182 |
-
4443
|
| 183 |
-
],
|
| 184 |
"mp_ef": [],
|
| 185 |
-
"skill_type": [
|
| 186 |
-
"uncoordinated"
|
| 187 |
-
]
|
| 188 |
},
|
| 189 |
{
|
| 190 |
"skill_idx": 7,
|
| 191 |
-
"skill_id": [
|
| 192 |
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|
| 193 |
-
],
|
| 194 |
-
"
|
| 195 |
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|
| 196 |
-
],
|
| 197 |
-
"object_id": [
|
| 198 |
-
[
|
| 199 |
-
"bottle_of_detergent_228",
|
| 200 |
-
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|
| 201 |
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|
| 202 |
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|
| 203 |
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"manipulating_object_id": [
|
| 204 |
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"bottle_of_detergent_228"
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| 205 |
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],
|
| 206 |
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|
| 207 |
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"frame_duration": [
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| 208 |
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4443,
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| 209 |
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|
| 210 |
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|
| 211 |
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|
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| 241 |
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|
| 242 |
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| 243 |
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| 244 |
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| 245 |
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|
| 246 |
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|
| 247 |
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|
|
|
|
|
|
|
| 248 |
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|
| 249 |
{
|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
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|
| 256 |
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|
| 257 |
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|
|
| 258 |
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|
| 259 |
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"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 260 |
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|
| 261 |
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|
| 262 |
"primitive_annotation": [
|
| 263 |
{
|
| 264 |
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|
| 265 |
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"primitive_id": [10],
|
| 266 |
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|
| 267 |
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|
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|
| 268 |
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|
| 269 |
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| 270 |
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| 271 |
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|
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|
| 273 |
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|
| 274 |
{
|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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| 280 |
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|
|
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
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|
| 284 |
},
|
| 285 |
{
|
| 286 |
"primitive_idx": 2,
|
| 287 |
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"primitive_id": [2, 3],
|
| 288 |
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|
| 289 |
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| 290 |
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| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
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|
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|
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|
|
| 295 |
},
|
| 296 |
{
|
| 297 |
"primitive_idx": 3,
|
| 298 |
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"primitive_id": [2, 3],
|
| 299 |
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"primitive_description": ["pick up from", "place on"],
|
| 300 |
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| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
},
|
| 307 |
{
|
| 308 |
"primitive_idx": 4,
|
| 309 |
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|
| 310 |
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"primitive_description": ["pick up from", "place in"],
|
| 311 |
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|
| 312 |
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|
| 313 |
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|
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|
|
|
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|
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|
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|
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
| 317 |
}
|
| 318 |
]
|
| 319 |
}
|
annotations/task-0027/episode_00272270.json
CHANGED
|
@@ -3,898 +3,377 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 14583,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
14583
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
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|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_226"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
90
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_226",
|
| 47 |
-
"robot"
|
| 48 |
-
]
|
| 49 |
-
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|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
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|
| 52 |
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|
| 53 |
-
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|
| 54 |
-
[
|
| 55 |
-
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|
| 56 |
-
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
-
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|
| 61 |
-
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|
| 62 |
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|
| 63 |
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|
| 64 |
-
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|
| 65 |
-
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
-
"skill_id": [
|
| 71 |
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|
| 72 |
-
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|
| 73 |
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|
| 74 |
-
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|
| 75 |
-
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|
| 76 |
-
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|
| 77 |
-
[
|
| 78 |
-
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|
| 79 |
-
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|
| 80 |
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|
| 81 |
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|
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|
| 82 |
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|
| 83 |
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|
| 84 |
-
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|
| 85 |
-
1188
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
-
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
-
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
-
[
|
| 102 |
-
"hamper_225",
|
| 103 |
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|
| 104 |
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]
|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
-
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|
| 110 |
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[
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
-
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|
| 115 |
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"frame_duration": [
|
| 116 |
-
1188,
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
-
"skill_type": [
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"skill_id": [
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
-
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|
| 131 |
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|
| 132 |
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|
| 133 |
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[
|
| 134 |
-
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|
| 135 |
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]
|
| 136 |
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|
| 137 |
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|
| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
-
"open door"
|
| 155 |
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|
| 156 |
-
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|
| 157 |
-
[
|
| 158 |
-
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|
| 159 |
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|
| 160 |
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| 161 |
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|
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|
| 164 |
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2934,
|
| 165 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
{
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
-
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|
| 179 |
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|
| 180 |
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"object_id": [
|
| 181 |
-
[
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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4149,
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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| 202 |
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|
| 203 |
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| 204 |
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|
| 205 |
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| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
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| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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|
| 233 |
-
"hamper_225",
|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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| 238 |
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|
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| 242 |
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| 251 |
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| 252 |
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| 253 |
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| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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| 258 |
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|
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| 261 |
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|
| 262 |
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| 263 |
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| 264 |
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|
| 265 |
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|
| 266 |
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| 267 |
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|
| 268 |
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| 269 |
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| 270 |
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 277 |
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| 278 |
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| 279 |
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| 281 |
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|
| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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| 194 |
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| 195 |
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|
| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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|
| 201 |
{
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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| 211 |
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|
| 213 |
{
|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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| 219 |
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| 221 |
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|
| 223 |
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|
| 224 |
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| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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| 231 |
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| 233 |
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| 234 |
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| 235 |
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|
| 236 |
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|
| 237 |
{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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| 245 |
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| 246 |
"mp_ef": [],
|
| 247 |
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|
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|
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|
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|
| 248 |
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|
| 249 |
{
|
| 250 |
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| 251 |
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|
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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| 258 |
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|
| 259 |
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"skill_type": ["navigation"]
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|
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|
| 260 |
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|
| 261 |
{
|
| 262 |
"skill_idx": 21,
|
| 263 |
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|
| 264 |
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|
| 265 |
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"object_id": [["tube_of_toothpaste_222", "hamper_225"]],
|
| 266 |
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|
| 267 |
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| 268 |
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|
| 269 |
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|
| 270 |
"mp_ef": [],
|
| 271 |
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"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 272 |
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|
| 273 |
{
|
| 274 |
"skill_idx": 22,
|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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| 281 |
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| 282 |
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|
| 283 |
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|
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|
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|
| 284 |
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|
| 285 |
{
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| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
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| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
|
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|
| 294 |
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|
| 295 |
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"skill_type": ["navigation"]
|
|
|
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|
|
| 296 |
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|
| 297 |
{
|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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| 304 |
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|
| 305 |
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| 306 |
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|
| 307 |
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|
|
|
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|
| 308 |
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|
| 309 |
{
|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
|
|
|
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|
|
| 320 |
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|
| 321 |
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|
| 322 |
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|
| 323 |
{
|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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|
|
|
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
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|
| 333 |
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|
| 334 |
{
|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
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|
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
{
|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
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|
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|
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|
|
|
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|
| 352 |
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|
| 353 |
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|
| 354 |
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|
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|
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|
| 355 |
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|
| 356 |
{
|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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|
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|
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|
| 363 |
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|
| 364 |
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|
| 365 |
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|
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|
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|
| 366 |
},
|
| 367 |
{
|
| 368 |
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|
| 369 |
+
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|
| 370 |
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"primitive_description": ["pick up from", "place in"],
|
| 371 |
+
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|
| 372 |
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"manipulating_object_id": [["tube_of_toothpaste_222", "toothbrush_221"], ["toothbrush_221", "tube_of_toothpaste_222"]],
|
| 373 |
+
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 374 |
"spatial_prefix": [],
|
| 375 |
+
"frame_duration": [10680, 14583],
|
| 376 |
+
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 377 |
}
|
| 378 |
]
|
| 379 |
}
|
annotations/task-0027/episode_00272860.json
CHANGED
|
@@ -3,857 +3,365 @@
|
|
| 3 |
"data_folder": "",
|
| 4 |
"meta_data": {
|
| 5 |
"task_duration": 16944,
|
| 6 |
-
"valid_duration": [
|
| 7 |
-
0,
|
| 8 |
-
16944
|
| 9 |
-
]
|
| 10 |
},
|
| 11 |
"skill_annotation": [
|
| 12 |
{
|
| 13 |
"skill_idx": 0,
|
| 14 |
-
"skill_id": [
|
| 15 |
-
|
| 16 |
-
],
|
| 17 |
-
"skill_description": [
|
| 18 |
-
"move to"
|
| 19 |
-
],
|
| 20 |
-
"object_id": [
|
| 21 |
-
[
|
| 22 |
-
"hamper_226"
|
| 23 |
-
]
|
| 24 |
-
],
|
| 25 |
"manipulating_object_id": [],
|
|
|
|
| 26 |
"spatial_prefix": [],
|
| 27 |
-
"frame_duration": [
|
| 28 |
-
0,
|
| 29 |
-
193
|
| 30 |
-
],
|
| 31 |
"mp_ef": [],
|
| 32 |
-
"skill_type": [
|
| 33 |
-
"navigation"
|
| 34 |
-
]
|
| 35 |
},
|
| 36 |
{
|
| 37 |
"skill_idx": 1,
|
| 38 |
-
"skill_id": [
|
| 39 |
-
|
| 40 |
-
],
|
| 41 |
-
"
|
| 42 |
-
|
| 43 |
-
],
|
| 44 |
-
"
|
| 45 |
-
[
|
| 46 |
-
"hamper_226",
|
| 47 |
-
"robot"
|
| 48 |
-
]
|
| 49 |
-
],
|
| 50 |
-
"manipulating_object_id": [
|
| 51 |
-
"hamper_226"
|
| 52 |
-
],
|
| 53 |
-
"spatial_prefix": [
|
| 54 |
-
[
|
| 55 |
-
"",
|
| 56 |
-
"away"
|
| 57 |
-
]
|
| 58 |
-
],
|
| 59 |
-
"frame_duration": [
|
| 60 |
-
193,
|
| 61 |
-
1010
|
| 62 |
-
],
|
| 63 |
"mp_ef": [],
|
| 64 |
-
"skill_type": [
|
| 65 |
-
"uncoordinated"
|
| 66 |
-
]
|
| 67 |
},
|
| 68 |
{
|
| 69 |
"skill_idx": 2,
|
| 70 |
-
"skill_id": [
|
| 71 |
-
|
| 72 |
-
],
|
| 73 |
-
"skill_description": [
|
| 74 |
-
"move to"
|
| 75 |
-
],
|
| 76 |
-
"object_id": [
|
| 77 |
-
[
|
| 78 |
-
"sliding_door_tprpvb_10"
|
| 79 |
-
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 110 |
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5207, 5838],
|
|
|
|
|
|
|
|
|
|
| 114 |
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
|
|
|
|
|
|
| 116 |
},
|
| 117 |
{
|
| 118 |
"skill_idx": 9,
|
| 119 |
+
"skill_id": [98],
|
| 120 |
+
"skill_description": ["place under"],
|
| 121 |
+
"object_id": [["bottle_of_detergent_227", "multi_station_furniture_sink_upwldu_0"]],
|
| 122 |
+
"manipulating_object_id": ["bottle_of_detergent_227"],
|
| 123 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 124 |
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5838, 6679],
|
|
|
|
|
|
|
|
|
|
| 126 |
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 128 |
},
|
| 129 |
{
|
| 130 |
"skill_idx": 10,
|
| 131 |
+
"skill_id": [98],
|
| 132 |
+
"skill_description": ["place under"],
|
| 133 |
+
"object_id": [["bottle_of_detergent_228", "multi_station_furniture_sink_upwldu_0"]],
|
| 134 |
+
"manipulating_object_id": ["bottle_of_detergent_228"],
|
| 135 |
+
"memory_prefix": [],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 136 |
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6679, 7110],
|
|
|
|
|
|
|
|
|
|
| 138 |
"mp_ef": [],
|
| 139 |
+
"skill_type": ["uncoordinated"]
|
|
|
|
|
|
|
| 140 |
},
|
| 141 |
{
|
| 142 |
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["box_of_sanitary_napkins_224"]],
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 146 |
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["back"],
|
| 148 |
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7111, 8036],
|