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", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "stool", "chest_of_drawers", "cushion", "clothes" ], "labels": [ "cushion" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 59, "scene_id": "17DRP5sb8fy", "question": "What objects does familyroom/lounge have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "bed", "fireplace", "chair", "gym_equipment" ], "labels": [ "chair" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 60, "scene_id": "17DRP5sb8fy", "question": "What objects does bedroom have? ", "question_meta_data": { "choices": "", "template": "What objects does have? 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" }, "choices": [ "bathtub", "shelving", "counter", "seating" ], "labels": [ "counter" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 63, "scene_id": "17DRP5sb8fy", "question": "What objects does bathroom have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "bathtub", "sink", "chair", "chest_of_drawers" ], "labels": [ "sink" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 64, "scene_id": "17DRP5sb8fy", "question": "What objects does kitchen have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "counter", "chair", "table", "cushion" ], "labels": [ "counter" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 65, "scene_id": "17DRP5sb8fy", "question": "What objects does kitchen have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "stool", "fireplace", "plant", "chest_of_drawers" ], "labels": [ "stool" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 66, "scene_id": "17DRP5sb8fy", "question": "What objects does living room have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "fireplace", "gym_equipment", "sofa", "shower" ], "labels": [ "sofa" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 67, "scene_id": "17DRP5sb8fy", "question": "What objects does living room have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "shelving", "stool", "bed", "cushion" ], "labels": [ "cushion" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 68, "scene_id": "17DRP5sb8fy", "question": "What objects does toilet have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "bathtub", "toilet", "stool", "shelving" ], "labels": [ "toilet" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 69, "scene_id": "17DRP5sb8fy", "question": "What objects does toilet have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "seating", "sofa", "toilet", "plant" ], "labels": [ "toilet" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 70, "scene_id": "17DRP5sb8fy", "question": "What objects does dining room have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "chest_of_drawers", "clothes", "plant", "chair" ], "labels": [ "chair" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 71, "scene_id": "17DRP5sb8fy", "question": "What objects does dining room have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "plant", "bathtub", "appliances", "chair" ], "labels": [ "chair" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 74, "scene_id": "17DRP5sb8fy", "question": "Where is the bedroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle center", "bottom right", "middle right" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 75, "scene_id": "17DRP5sb8fy", "question": "Where is the bedroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "top left", "middle center", "top center" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 76, "scene_id": "17DRP5sb8fy", "question": "Where is the bathroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom right", "middle center", "top left" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 77, "scene_id": "17DRP5sb8fy", "question": "Where is the bathroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom left", "middle right", "top center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 78, "scene_id": "17DRP5sb8fy", "question": "Where is the kitchen in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "top center", "middle right" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 79, "scene_id": "17DRP5sb8fy", "question": "Where is the kitchen in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top center", "middle center", "bottom left" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 80, "scene_id": "17DRP5sb8fy", "question": "Where is the living room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top left", "top center", "middle center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 81, "scene_id": "17DRP5sb8fy", "question": "Where is the living room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top center", "top left", "bottom left" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 82, "scene_id": "17DRP5sb8fy", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "bottom left", "middle center", "middle left" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 83, "scene_id": "17DRP5sb8fy", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle left", "top right", "bottom center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 84, "scene_id": "17DRP5sb8fy", "question": "Where is the dining room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top left", "bottom center", "top center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 85, "scene_id": "17DRP5sb8fy", "question": "Where is the dining room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top right", "bottom center", "middle center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 0, "scene_id": "2azQ1b91cZZ", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle center", "middle left", "top center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_0.png", "ability": "object_localization" }, { "index": 1, "scene_id": "2azQ1b91cZZ", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "bottom left", "top right", "bottom right" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_0.png", "ability": "object_localization" }, { "index": 2, "scene_id": "2azQ1b91cZZ", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "middle right", "bottom left", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_0.png", "ability": "object_localization" }, { "index": 3, "scene_id": "2azQ1b91cZZ", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom left", "middle left", "middle center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_0.png", "ability": "object_localization" }, { "index": 4, "scene_id": "2azQ1b91cZZ", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down 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"choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top left", "top right", "bottom left" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_0.png", "ability": "object_localization" }, { "index": 9, "scene_id": "2azQ1b91cZZ", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "top center", "top right" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_0.png", "rgb_map": 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