diff --git "a/MP3D/habitatweb/train/YmJkqBEsHnH.json" "b/MP3D/habitatweb/train/YmJkqBEsHnH.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/YmJkqBEsHnH.json" @@ -0,0 +1,12956 @@ +[ + { + "YmJkqBEsHnH.glb_table": [ + { + "position": [ + -10.952, + 0.54215, + 1.30766 + ], + "radius": null, + "object_id": 47, + "object_name": "0_0_47", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "observable_viewpoint_ids": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "position": [ + 1.38071, + 0.69347, + 2.05823 + ], + "radius": null, + "object_id": 78, + "object_name": "0_1_78", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_3_newN_1", + "observable_viewpoint_ids": [ + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "position": [ + 3.27742, + 1.81418, + 2.1092 + ], + "radius": null, + "object_id": 69, + "object_name": "0_1_69", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_3_newN_1", + "observable_viewpoint_ids": [ + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "position": [ + 3.55763, + 0.55833, + 0.74681 + ], + "radius": null, + "object_id": 84, + "object_name": "0_1_84", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "e4ede0695e4e4a77aae8537abb9f11d3", + "observable_viewpoint_ids": [ + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "position": [ + 3.51991, + 0.56579, + 3.42396 + ], + "radius": null, + "object_id": 89, + "object_name": "0_1_89", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "b34af02ce9b642ebbd0c7e9e0ba3b553", + "observable_viewpoint_ids": [ + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "all_observation_viewpoint_ids": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "e4ede0695e4e4a77aae8537abb9f11d3", + "20fd759be0b64fc9aa96d290f0a704ec", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf" + ] + } + ], + "YmJkqBEsHnH.glb_chair": [ + { + "position": [ + 1.80933, + 0.6163, + 4.66848 + ], + "radius": null, + "object_id": 75, + "object_name": "0_1_75", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "b34af02ce9b642ebbd0c7e9e0ba3b553", + "observable_viewpoint_ids": [ + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "position": [ + 1.94531, + 0.58632, + -0.58089 + ], + "radius": null, + "object_id": 81, + "object_name": "0_1_81", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "e4ede0695e4e4a77aae8537abb9f11d3", + "observable_viewpoint_ids": [ + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "all_observation_viewpoint_ids": [ + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + } + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VNXK88KKEL7ATVWW533SUCJZG39VX", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.25592, + -0.37962, + 1.70445 + ], + "start_rotation": [ + 0, + 0.95375, + 0, + 0.30061 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.65281, + "euclidean_distance": 2.28756, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15318, + 0.23034, + 2.2308 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:37FMASSAYEULCGQTVIIG4BHFFE3BI5", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.66573, + 0.03034, + 2.48043 + ], + "start_rotation": [ + 0, + 0.34009, + 0, + -0.94039 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.75262, + "euclidean_distance": 4.46149, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.58753, + 0.22415, + 3.71114 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3OE22WJIGKRDPDNI8H4KI30PVBUUQF", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -1.49532, + 0.03034, + 2.54242 + ], + "start_rotation": [ + 0, + 0.38258, + 0, + -0.92392 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.58133, + "euclidean_distance": 2.42251, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.5315, + 0.21207, + 3.60263 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3T111IHZ5GTFHMEFNLYTRXNGEAQR9M", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.97916, + -0.24445, + 1.95681 + ], + "start_rotation": [ + 0, + 0.80929, + 0, + 0.58741 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.25534, + "euclidean_distance": 1.95667, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.16662, + 0.23034, + 2.17832 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3BQU611VFRN9DMITT4Y70CNM8QH99I", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -8.11559, + 0.23034, + 1.70511 + ], + "start_rotation": [ + 0, + 0.90701, + 0, + 0.42111 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.25298, + "euclidean_distance": 8.96118, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61939, + 0.22877, + 3.52281 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3CP1TO84PV4FCFVI556BE9A6GLJ25H", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.80375, + -0.50435, + 1.53311 + ], + "start_rotation": [ + 0, + 0.73235, + 0, + -0.68093 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.17405, + "euclidean_distance": 2.87077, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.09944, + 0.23034, + 2.1305 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AEWGY34WUIA32:33JKGHPFYEX9985HJNLHNZOQDC1MNL", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.70404, + 0.03034, + 2.41389 + ], + "start_rotation": [ + 0, + 0.5811, + 0, + 0.81383 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.79519, + "euclidean_distance": 3.57164, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.6268, + 0.23034, + 3.53372 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ZPPDN2SLXZQ8I9A1FETSQOXZNX9ES", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.69456, + 0.03034, + 2.33026 + ], + "start_rotation": [ + 0, + 0.6343, + 0, + 0.77309 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.78917, + "euclidean_distance": 4.53255, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62163, + 0.22966, + 3.57231 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3X31TUMD7ZPMPJG7EOM4QFWYA5LL1N", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.03089, + -0.27873, + 2.0081 + ], + "start_rotation": [ + 0, + 0.98454, + 0, + 0.17517 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.27107, + "euclidean_distance": 2.01229, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.05233, + 0.23034, + 2.10497 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34MAJL3QP6QM1EN1V016SR9KM4G34I", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.10714, + -0.31337, + 1.82819 + ], + "start_rotation": [ + 0, + 0.3976, + 0, + 0.91756 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.44925, + "euclidean_distance": 2.1099, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -11.98663, + 0.23034, + 2.16057 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:34Z02EIMIUGA173UREKVY1N5ZRET0A", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.13935, + -0.3408, + 1.95804 + ], + "start_rotation": [ + 0, + 0.53884, + 0, + 0.84241 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.40338, + "euclidean_distance": 2.13569, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.11419, + 0.23034, + 2.24186 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:3KYQYYSHYXAONZZG79MRJY11U82OD8", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.61824, + -0.01955, + 1.6701 + ], + "start_rotation": [ + 0, + 0.45296, + 0, + -0.89153 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.59254, + "euclidean_distance": 1.6095, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -11.99976, + 0.23034, + 2.14948 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:32XVDSJFP10DKMGOX4NXVBLS2HD2MD", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.63496, + 0.23034, + 2.34902 + ], + "start_rotation": [ + 0, + 0.46243, + 0, + 0.88666 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.72786, + "euclidean_distance": 7.38005, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62081, + 0.23034, + 3.6653 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3X73LLYYQ3HNHU46SQ54VUGUWP3HN6", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.75196, + -0.50239, + 1.96763 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.00025 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.95943, + "euclidean_distance": 2.76776, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.0869, + 0.23034, + 1.96897 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3DPNQGW4LNILYXAJE2Z4ZUL4WVS641", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.13569, + 0.03034, + 2.56023 + ], + "start_rotation": [ + 0, + 0.61028, + 0, + 0.79219 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.2214, + "euclidean_distance": 4.89524, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62233, + 0.23034, + 3.63204 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3EQHHY4HQUV5R93P4KR0GD47Q445GJ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.1299, + -0.33364, + 1.93415 + ], + "start_rotation": [ + 0, + 0.00485, + 0, + 0.99999 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.40394, + "euclidean_distance": 2.12636, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15359, + 0.23034, + 2.26544 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3L70J4KAZIPZLV5FXQH9I3HW5REDAE", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.54417, + 0.03034, + 2.45748 + ], + "start_rotation": [ + 0, + 0.95867, + 0, + -0.28453 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.63287, + "euclidean_distance": 3.40717, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59894, + 0.22572, + 3.63409 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:392CY0QWG3U1RH5KG38TWXB95LN4IR", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -15.06269, + -0.56454, + 2.04681 + ], + "start_rotation": [ + 0, + 0.95093, + 0, + 0.30942 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.2356, + "euclidean_distance": 3.08139, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.00428, + 0.23034, + 2.11949 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3FPRZHYEP0ALVR6GFW2T1H9XZOEV3N", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.21573, + -0.38498, + 2.31328 + ], + "start_rotation": [ + 0, + 0.85836, + 0, + 0.51305 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.38667, + "euclidean_distance": 2.22762, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.22431, + 0.23034, + 1.99843 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QEMNNSB2Z2H2T7HQN5P8CF64LB7DO", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.14466, + -0.38093, + 2.87651 + ], + "start_rotation": [ + 0, + 0.2412, + 0, + -0.97048 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.5479, + "euclidean_distance": 14.79956, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62685, + 0.23034, + 3.53244 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:340UGXU9D045ULJZUGYUOQZXC1VVUS", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.82659, + -0.51528, + 1.76133 + ], + "start_rotation": [ + 0, + 0.56437, + 0, + -0.82552 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.09622, + "euclidean_distance": 2.85972, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.02215, + 0.23034, + 2.09854 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3U5JL4WY5MCYHCUFFP8UZ7YOTZL4XN", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.92784, + 0.03034, + 2.2486 + ], + "start_rotation": [ + 0, + 0.14397, + 0, + -0.98958 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.84089, + "euclidean_distance": 4.84089, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -9.71646, + 0.23034, + 1.8684 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:37TD41K0AJCTGZLVEU8PJXTK6XSSC8", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.86959, + -0.52592, + 1.84289 + ], + "start_rotation": [ + 0, + 0.87016, + 0, + -0.49276 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.10707, + "euclidean_distance": 2.89548, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.03278, + 0.23034, + 1.99057 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31EUONYN2X6AHGZ2YUMLPK78UHLOVQ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.74505, + 0.03034, + 2.61218 + ], + "start_rotation": [ + 0, + 0.98926, + 0, + -0.14615 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.83099, + "euclidean_distance": 6.46068, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62534, + 0.23034, + 3.56568 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:317HQ483I9VNDPFQY8NPV6H9W5ONIH", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -1.73819, + 0.03034, + 2.3224 + ], + "start_rotation": [ + 0, + 0.27054, + 0, + -0.96271 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.84935, + "euclidean_distance": 2.7415, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62633, + 0.23034, + 3.54387 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:39GHHAVOMHUXMSPQYLTT8YQ9I3J4JG", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -1.44443, + 0.03034, + 2.64172 + ], + "start_rotation": [ + 0, + 0.93909, + 0, + 0.34367 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.54766, + "euclidean_distance": 2.33116, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.58343, + 0.22316, + 3.69091 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3HHRAGRYXA8CK9MZVTHPX2IB3NR9OG", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.52593, + -0.45719, + 2.29643 + ], + "start_rotation": [ + 0, + 0.85315, + 0, + 0.52167 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.68214, + "euclidean_distance": 2.54299, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15031, + 0.23034, + 2.16598 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:323Q6SJS8KJBT2RPU2MRNP7LU1NHFB", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.34124, + -0.39479, + 1.5029 + ], + "start_rotation": [ + 0, + 0.71073, + 0, + -0.70346 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.99085, + "euclidean_distance": 15.13468, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62387, + 0.23034, + 3.59809 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3O7L7BFSHGSJJJ2D59K65JN0IB7EIZ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -12.97828, + 0.23034, + 0.63008 + ], + "start_rotation": [ + 0, + 0.41458, + 0, + -0.91001 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.28417, + "euclidean_distance": 1.09454, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.21193, + 0.23034, + 1.45414 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "20fd759be0b64fc9aa96d290f0a704ec", + "path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34QN5IT0T1UR3NB6OG9075RILG580G", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.13297, + 0.03034, + 2.42478 + ], + "start_rotation": [ + 0, + 0.99351, + 0, + 0.11374 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.22148, + "euclidean_distance": 4.92614, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62204, + 0.23034, + 3.63835 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:3KXIR214I6JXGWRIR0N19H4SGP442U", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.00296, + -0.25258, + 1.85752 + ], + "start_rotation": [ + 0, + 0.29784, + 0, + -0.95462 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.34747, + "euclidean_distance": 1.99104, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04519, + 0.23034, + 2.11736 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:31JLPPHS2WXQ57XJEKGF6PFP3XY3OE", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.81619, + 0.23034, + 0.77279 + ], + "start_rotation": [ + 0, + 0.39039, + 0, + 0.92065 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.41315, + "euclidean_distance": 11.80578, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.6225, + 0.23034, + 3.62826 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:37U1UTWH9XPF3HV5ITSFR1S5U4Z8R5", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.16207, + -0.33602, + 1.66156 + ], + "start_rotation": [ + 0, + 0.50301, + 0, + -0.86428 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.61223, + "euclidean_distance": 2.1951, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.00667, + 0.23034, + 2.11615 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LYA37P8ISQCIBGHVL3SHRWS7IGBK4", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.20006, + -0.38156, + 2.32427 + ], + "start_rotation": [ + 0, + 0.34138, + 0, + 0.93992 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.37127, + "euclidean_distance": 2.21281, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.06071, + 0.23034, + 2.07718 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3M1CVSFP628TA49K2CNTI2OVO68AQL", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.4181, + 0.03034, + 2.46742 + ], + "start_rotation": [ + 0, + 0.76649, + 0, + 0.64226 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.50551, + "euclidean_distance": 4.22804, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62343, + 0.23034, + 3.60783 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:36ZN444YTT15VAF2ZNN2AVHEMD9IO3", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.44371, + -0.42294, + 1.6691 + ], + "start_rotation": [ + 0, + 0.32282, + 0, + -0.94646 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.80237, + "euclidean_distance": 2.48329, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.07186, + 0.23034, + 2.09021 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3FDJT1UU76BATVZ8UBCFE5W0XOA5KH", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.65053, + 0.41422, + 0.36419 + ], + "start_rotation": [ + 0, + 0.98965, + 0, + 0.14348 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.6057, + "euclidean_distance": 11.75647, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61941, + 0.22993, + 3.6504 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3IUZPWIU1QA46EESQCZO459DHJXKWS", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.17368, + -0.36924, + 2.0835 + ], + "start_rotation": [ + 0, + 0.10956, + 0, + 0.99398 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.39521, + "euclidean_distance": 2.17212, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.10308, + 0.23034, + 2.11326 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3Z4XG4ZF4AUZ0DHHRSY7GJETVNSX82", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.04835, + -0.3097, + 1.75601 + ], + "start_rotation": [ + 0, + 0.97495, + 0, + 0.22242 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.60619, + "euclidean_distance": 14.80641, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61101, + 0.22727, + 3.54037 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XLBSAQ9Z6FK5UCDI5UMZ4Y9S1BZ71", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.01525, + -0.29786, + 2.46698 + ], + "start_rotation": [ + 0, + 0.02056, + 0, + 0.99979 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.17381, + "euclidean_distance": 2.03463, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.0449, + 0.23034, + 2.10215 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3DBQWDE4Y81B11KBRO4V6XD4RHG5NJ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.40835, + -0.41006, + 1.48137 + ], + "start_rotation": [ + 0, + 0.54719, + 0, + -0.83701 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.91629, + "euclidean_distance": 2.48588, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04175, + 0.23034, + 2.1061 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KKG4CDWKK18GGCHC92GJ4C6MY349H", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.32493, + 0.03034, + 2.52522 + ], + "start_rotation": [ + 0, + 0.92181, + 0, + -0.38763 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.41081, + "euclidean_distance": 6.06366, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62099, + 0.23034, + 3.66135 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + [ + "d841f7b710f9470796d55561f8f524db" + ], + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3UNH76FOCU83L79VQPUS4FMXHY8MYI", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.1343, + -0.32682, + 1.78205 + ], + "start_rotation": [ + 0, + 0.31163, + 0, + -0.9502 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.63965, + "euclidean_distance": 14.88878, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60395, + 0.22713, + 3.67973 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VSOLARPKDCNYKTDCVXX9ZK08YD391", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.11078, + -0.30698, + 1.69016 + ], + "start_rotation": [ + 0, + 0.91003, + 0, + -0.41455 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.69037, + "euclidean_distance": 14.87694, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62348, + 0.23034, + 3.60674 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39KFRKBFIPYRLAU73595WJB2CWCYOU", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.05552, + -0.28184, + 1.82002 + ], + "start_rotation": [ + 0, + 0.9532, + 0, + 0.30233 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.41388, + "euclidean_distance": 2.05349, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.08621, + 0.23034, + 2.14922 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A302KOFOYLD89A:34Q075JO1ZG9SNRLPV0LSV4A78L107", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.16045, + -0.33582, + 1.67395 + ], + "start_rotation": [ + 0, + 0.30458, + 0, + 0.95249 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.60165, + "euclidean_distance": 2.1911, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.1323, + 0.23034, + 2.22429 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:37TD41K0AJCTGZLVEU8PJXTK6ZESCY", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.60212, + 0.03034, + 2.29829 + ], + "start_rotation": [ + 0, + 0.68409, + 0, + 0.72939 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.69672, + "euclidean_distance": 5.41167, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61187, + 0.22941, + 3.75937 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:326O153BMK12B8MRDVJVEM7NQ6PEDN", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.77534, + -0.4968, + 1.4974 + ], + "start_rotation": [ + 0, + 0.53186, + 0, + -0.84683 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.16746, + "euclidean_distance": 2.84922, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.22329, + 0.23034, + 2.02287 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3X4JMASXCOCA5L9DRSTAY7HJTJ10BC", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.57241, + 0.01142, + 1.62109 + ], + "start_rotation": [ + 0, + 0.93629, + 0, + -0.35122 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.66643, + "euclidean_distance": 1.57532, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.17207, + 0.23034, + 2.20995 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3NGMS9VZTNLRF60JZCYRK4V8ENSFFV", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.7646, + 0.23034, + 0.54549 + ], + "start_rotation": [ + 0, + 0.71703, + 0, + 0.69705 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.49489, + "euclidean_distance": 11.81462, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60012, + 0.22562, + 3.59732 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3MRNMEIQW79GHEWJUH6ZRHX7Z3BLD2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.23749, + 0.03034, + 2.46728 + ], + "start_rotation": [ + 0, + 0.96551, + 0, + 0.26038 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.32613, + "euclidean_distance": 3.12063, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62469, + 0.23034, + 3.58008 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3RRCEFRB7OFR49REATGCAA7WAY64BR", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.19158, + 0.03034, + 2.50518 + ], + "start_rotation": [ + 0, + 0.75494, + 0, + 0.65579 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.27768, + "euclidean_distance": 5.93702, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62542, + 0.23034, + 3.56395 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:30BXRYBRP60D4ODKKRWRRDTLP4MHWI", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.54767, + 0.03034, + 1.59135 + ], + "start_rotation": [ + 0, + 0.78259, + 0, + 0.62254 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.86226, + "euclidean_distance": 3.81411, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62275, + 0.23019, + 3.60656 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3PS7W85Z815SX1R7RA3ORCOY2VG9TA", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.97619, + 0.03034, + 1.88255 + ], + "start_rotation": [ + 0, + 0.64841, + 0, + -0.7613 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.15769, + "euclidean_distance": 4.03695, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62215, + 0.23034, + 3.63599 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:358010RM5GWXBPDUZL9H8XY16JGXVQ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.84768, + -0.51584, + 1.58056 + ], + "start_rotation": [ + 0, + 0.93928, + 0, + -0.34314 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.19008, + "euclidean_distance": 2.90655, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.00209, + 0.23034, + 2.11255 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7ISHFUH2YO58HWSAMSD4U43KKZ8P", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -15.02491, + -0.55698, + 2.41326 + ], + "start_rotation": [ + 0, + 0.79881, + 0, + -0.60158 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.16114, + "euclidean_distance": 3.05921, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15862, + 0.23034, + 2.21564 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3H0W84IWBM5WCI5WVWEFJBOR57ZERC", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.5224, + 0.03034, + 2.5935 + ], + "start_rotation": [ + 0, + 0.86576, + 0, + -0.50045 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.60842, + "euclidean_distance": 3.33914, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62559, + 0.23034, + 3.56034 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3MH9DQ757YFMCOT45LZ8OPWNPLWGUB", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.57929, + -0.46255, + 1.98566 + ], + "start_rotation": [ + 0, + 0.69828, + 0, + 0.71583 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.79237, + "euclidean_distance": 2.59009, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.06762, + 0.23034, + 2.17306 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3NC5L260MQPLLJDCYFHH7Y4M6LXOFY", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.56517, + -0.44828, + 1.53573 + ], + "start_rotation": [ + 0, + 0.99985, + 0, + 0.01736 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.13749, + "euclidean_distance": 15.35366, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59548, + 0.22462, + 3.58787 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:32UTUBMZ7IZQYMATUPHZJ079NI5VBW", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.27839, + 0.03034, + 2.62082 + ], + "start_rotation": [ + 0, + 0.99526, + 0, + 0.09723 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.36461, + "euclidean_distance": 5.02048, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61956, + 0.23034, + 3.69285 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3T111IHZ5GTFHMEFNLYTRXNGAEY9RG", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -7.12184, + 0.21717, + 2.84 + ], + "start_rotation": [ + 0, + 0.21402, + 0, + 0.97683 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.87123, + "euclidean_distance": 2.81376, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -9.67413, + 0.23034, + 1.8165 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:34X6J5FLPV14BXCOWI06B1REAYDJQR", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.62785, + 0.03034, + 2.6049 + ], + "start_rotation": [ + 0, + 0.5326, + 0, + 0.84637 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.71378, + "euclidean_distance": 5.36517, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.57726, + 0.22092, + 3.57783 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db" + ], + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JC6VJ2SADM4HIQMIKZQKRT4OFW5AK", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.51476, + 0.03034, + 2.60566 + ], + "start_rotation": [ + 0, + 0.98889, + 0, + 0.14867 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.60112, + "euclidean_distance": 3.32791, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.54299, + 0.21384, + 3.54636 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3N2BF7Y2VSXHZCJ6GPQ4IFRUN47MHV", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.95702, + -0.17479, + 1.68593 + ], + "start_rotation": [ + 0, + 0.47921, + 0, + 0.8777 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.47611, + "euclidean_distance": 1.95754, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.01799, + 0.23034, + 2.12036 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553", + [ + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3XM0HYN6NM2B05PHI4AQEGOC0UVEPA", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.60014, + 0.03034, + 2.49502 + ], + "start_rotation": [ + 0, + 0.87383, + 0, + 0.48624 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.68667, + "euclidean_distance": 4.39449, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62365, + 0.23034, + 3.60299 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3EWIJTFFVQA8COLX1JV0ZFN4SMG0EM", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -15.06906, + -0.56581, + 1.61444 + ], + "start_rotation": [ + 0, + 0.78033, + 0, + -0.62537 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.37366, + "euclidean_distance": 3.12461, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.03346, + 0.23034, + 2.08495 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3570Y55XZRM3TXD9FMWXRA20HFAGYK", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.18893, + -0.35089, + 1.64095 + ], + "start_rotation": [ + 0, + 0.24588, + 0, + 0.9693 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.78413, + "euclidean_distance": 14.96268, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62541, + 0.23034, + 3.56427 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3KXIR214I6JXGWRIR0N19H4SCU5421", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.91065, + -0.16131, + 1.56361 + ], + "start_rotation": [ + 0, + 0.90464, + 0, + -0.42619 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.58708, + "euclidean_distance": 1.9403, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.02125, + 0.23034, + 2.17119 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3EJJQNKU9T88WSWYLXML4EL4TR7RHP", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.21221, + 0.03034, + 2.72968 + ], + "start_rotation": [ + 0, + 0.59949, + 0, + -0.80039 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.3256, + "euclidean_distance": 5.91597, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.54946, + 0.21531, + 3.56715 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:3M1CVSFP628TA49K2CNTI2OVKAAQA7", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.60437, + -0.46214, + 1.72632 + ], + "start_rotation": [ + 0, + 0.43047, + 0, + -0.90261 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.91125, + "euclidean_distance": 2.6377, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.09474, + 0.23034, + 2.11186 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:31HQ4X3T3UDMJ3F1R71OMGJ7WB2SLQ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.56968, + 0.23034, + 0.56964 + ], + "start_rotation": [ + 0, + 0.70156, + 0, + 0.71261 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.3627, + "euclidean_distance": 11.62038, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62368, + 0.23034, + 3.60225 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3A9AA95ATYPB4MWO73HNAMIZN0R5PT", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.92599, + -0.5372, + 1.88019 + ], + "start_rotation": [ + 0, + 0.75426, + 0, + -0.65657 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.1475, + "euclidean_distance": 2.94971, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.02197, + 0.23034, + 2.09413 + ] + }, + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3N2BF7Y2VSXHZCJ6GPQ4IFRUD5WMHC", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.77996, + -0.49804, + 1.50374 + ], + "start_rotation": [ + 0, + 0.99339, + 0, + 0.11483 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.16818, + "euclidean_distance": 2.85258, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.06568, + 0.23034, + 2.13973 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3018Q3ZVOKTTM5OKFRCTNSY0A7IARE", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.28263, + -0.39603, + 2.12034 + ], + "start_rotation": [ + 0, + 0.40226, + 0, + 0.91552 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.48191, + "euclidean_distance": 2.28436, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.02099, + 0.23034, + 2.11198 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3KYQYYSHYXAONZZG79MRJY11GDUDOL", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.39679, + 0.03034, + 2.58147 + ], + "start_rotation": [ + 0, + 0.88137, + 0, + -0.47242 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.48261, + "euclidean_distance": 3.22544, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62623, + 0.23034, + 3.54607 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3WYGZ5XF3YIBZXXJ67PN7G6RHAEKS2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.5218, + 0.23034, + 1.85193 + ], + "start_rotation": [ + 0, + 0.2347, + 0, + 0.97207 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.63513, + "euclidean_distance": 11.29424, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60841, + 0.22804, + 3.68264 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AZ2P6DGG5M6SH:3RANCT1ZVHKQL7LTPZ7UNE5PI0HUBC", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.79922, + -0.51185, + 2.14409 + ], + "start_rotation": [ + 0, + 0.75701, + 0, + -0.6534 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.96368, + "euclidean_distance": 2.81336, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.18962, + 0.23034, + 2.15051 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:36H9ULYP64X7K8MFI2PCZ2N0X69JFG", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.58307, + 0.08556, + 2.38387 + ], + "start_rotation": [ + 0, + 0.30265, + 0, + -0.9531 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.59711, + "euclidean_distance": 1.53164, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.25249, + 0.23034, + 2.04204 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OB0CAO74JSHTT8KZSEFCAE0749YHA", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.93278, + -0.24525, + 2.42024 + ], + "start_rotation": [ + 0, + 0.18679, + 0, + 0.9824 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.07601, + "euclidean_distance": 1.93466, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14525, + 0.23034, + 2.18088 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:352YTHGROXG1VMU0ALQ8WLATCF4H4Q", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -1.23874, + 0.03034, + 2.54586 + ], + "start_rotation": [ + 0, + 0.1746, + 0, + -0.98464 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.32475, + "euclidean_distance": 2.20033, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.52499, + 0.21068, + 3.591 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "0_edge_6_newN_0", + "path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:39RP059MEJW78ZGKGXG8W4OWM2IMBB", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.57397, + 0.03034, + 2.58554 + ], + "start_rotation": [ + 0, + 0.88304, + 0, + -0.4693 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.65973, + "euclidean_distance": 6.29694, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.58656, + 0.22307, + 3.61171 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3RSDURM96CP59JHI9R69R7HNDUIEYL", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.93278, + -0.24525, + 2.42024 + ], + "start_rotation": [ + 0, + 0.18679, + 0, + 0.9824 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.07601, + "euclidean_distance": 1.93466, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14525, + 0.23034, + 2.18088 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3EKVH9QME07AGSABKBOUCLYYF8HD2Y", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.18433, + 0.03034, + 2.03587 + ], + "start_rotation": [ + 0, + 0.765, + 0, + 0.64403 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.30886, + "euclidean_distance": 5.08989, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60983, + 0.22816, + 3.66521 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3VD82FOHKSREI7T27DRGZSJJZN9COZ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.03378, + -0.32605, + 2.78748 + ], + "start_rotation": [ + 0, + 0.98142, + 0, + 0.19185 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.17501, + "euclidean_distance": 2.14092, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.01275, + 0.23034, + 2.16557 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3XIQGXAUMEBV0ZCYHN612JIY66F7XA", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.85294, + 0.03034, + 2.24106 + ], + "start_rotation": [ + 0, + 0.85779, + 0, + -0.514 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.95475, + "euclidean_distance": 4.71054, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62239, + 0.23034, + 3.63064 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3GA6AFUKOQRGDQBWA7LPMGIOHO0H30", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.81518, + -0.15312, + 1.88412 + ], + "start_rotation": [ + 0, + 0.90256, + 0, + -0.43056 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.2727, + "euclidean_distance": 1.78367, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14295, + 0.23034, + 2.24144 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + [ + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3EQHHY4HQUV5R93P4KR0GD46ZYYG5J", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.51045, + 0.11151, + 2.56456 + ], + "start_rotation": [ + 0, + 0.93385, + 0, + -0.35767 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.59672, + "euclidean_distance": 7.22143, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59076, + 0.22351, + 3.56868 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OJSZ2ATDUZMYGSOBHN6A0RD0TV57H", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.44782, + -0.42218, + 1.59792 + ], + "start_rotation": [ + 0, + 0.92299, + 0, + -0.38482 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.8689, + "euclidean_distance": 2.50016, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.11218, + 0.23034, + 2.21218 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:37UEWGM5HVBXSHBKJ8J0CR5X23X1RE", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.17268, + 0.03034, + 2.12962 + ], + "start_rotation": [ + 0, + 0.96399, + 0, + -0.26594 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.29492, + "euclidean_distance": 4.11185, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62686, + 0.23034, + 3.53226 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3QAPZX2QN6GGH89H8Z0ZXEEFPT502D", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.0946, + 0.03034, + 2.42005 + ], + "start_rotation": [ + 0, + 0.94846, + 0, + -0.3169 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.18453, + "euclidean_distance": 3.93558, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62364, + 0.23026, + 3.59458 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RKNTXVS3O1MLZMM4FGGFZNPZ8MA4S", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.42693, + -0.43542, + 2.34389 + ], + "start_rotation": [ + 0, + 0.97996, + 0, + 0.19918 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.58398, + "euclidean_distance": 2.44652, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.05749, + 0.23034, + 2.06274 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3SLE99ER0PG776F3VM6246K4KKGZBU", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.80222, + 0.03034, + 1.84549 + ], + "start_rotation": [ + 0, + 0.96573, + 0, + 0.25955 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.00212, + "euclidean_distance": 3.90039, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62476, + 0.23034, + 3.57852 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3TK8OJTYM3OS2GB3DUZ0EKCXDB2PVE", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.85898, + -0.13162, + 1.54763 + ], + "start_rotation": [ + 0, + 0.61161, + 0, + -0.79116 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.59993, + "euclidean_distance": 1.89043, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.20424, + 0.23034, + 2.18848 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RSDURM96CP59JHI9R69R7HNDXHEYQ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -15.0725, + -0.5665, + 1.71225 + ], + "start_rotation": [ + 0, + 0.13569, + 0, + 0.99075 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.33938, + "euclidean_distance": 3.11456, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.07618, + 0.23034, + 2.17273 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3WS1NTTKE0F0I2LTWUF6HX84UNIF0W", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.69539, + 0.03034, + 2.39097 + ], + "start_rotation": [ + 0, + 0.21852, + 0, + 0.97583 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.78601, + "euclidean_distance": 4.51526, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.55522, + 0.21635, + 3.55545 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A272X64FOZFYLB:31HQ4X3T3UDMJ3F1R71OMGJ7QLELS9", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.65546, + 0.03034, + 2.20638 + ], + "start_rotation": [ + 0, + 0.98079, + 0, + 0.19507 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.76214, + "euclidean_distance": 4.53486, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60056, + 0.2254, + 3.56315 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A5A14MTB35J23:3CFVK00FWNOHW5H4KUYLLBNF8WYL64", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.94778, + 0.23034, + 2.66358 + ], + "start_rotation": [ + 0, + 0.77903, + 0, + -0.62698 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.04279, + "euclidean_distance": 7.6384, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.50741, + 0.20693, + 3.56161 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3MD9PLUKKKH98F40YCBBV1KZIVMZN2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.48743, + 0.03034, + 2.58235 + ], + "start_rotation": [ + 0, + 0.10903, + 0, + -0.99404 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.57317, + "euclidean_distance": 6.21242, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62044, + 0.23034, + 3.67363 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db" + ], + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:33FOTY3KEOOTMFM11BT5NW6B22PC1E", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.54609, + -0.4442, + 1.5528 + ], + "start_rotation": [ + 0, + 0.96261, + 0, + -0.27089 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.97531, + "euclidean_distance": 2.60782, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.07452, + 0.23034, + 2.0826 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:37QW5D2ZRIPR4WVIXISKHBX12BUS8L", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.05476, + -0.28153, + 1.82243 + ], + "start_rotation": [ + 0, + 0.81434, + 0, + 0.58039 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.4115, + "euclidean_distance": 2.05236, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15943, + 0.23034, + 2.15524 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:3FFJ6VRIL3RKSTNJX2LRKULWAFII0Y", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.84472, + -0.51545, + 1.5932 + ], + "start_rotation": [ + 0, + 0.99737, + 0, + -0.07251 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.18176, + "euclidean_distance": 2.90143, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.13631, + 0.23034, + 2.26653 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:31HQ4X3T3UDMJ3F1R71OMGJ670XLS1", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.13409, + -0.36308, + 2.36719 + ], + "start_rotation": [ + 0, + 0.80047, + 0, + -0.59937 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.30568, + "euclidean_distance": 2.1497, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.19667, + 0.23034, + 2.15398 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:304SM51WA57A6UTP0UCU8DN2ERMSBF", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.98553, + -0.27438, + 2.37661 + ], + "start_rotation": [ + 0, + 0.98078, + 0, + 0.19511 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.13539, + "euclidean_distance": 1.98559, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14783, + 0.23034, + 2.22706 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VE8AYVF8O0I0RQWRYSLACEMDLL8F3", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.18814, + -0.35851, + 1.77125 + ], + "start_rotation": [ + 0, + 0.22866, + 0, + -0.97351 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.55624, + "euclidean_distance": 2.2069, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14716, + 0.23034, + 2.15049 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3A9AA95ATYPB4MWO73HNAMIZD15P5J", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.73904, + -0.07041, + 2.37043 + ], + "start_rotation": [ + 0, + 0.19051, + 0, + -0.98169 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.81763, + "euclidean_distance": 1.70269, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.19559, + 0.23034, + 2.24496 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A1PQ49WVJKK3NXHN376YN3Q2GX1H8", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -15.03889, + -0.55978, + 1.76832 + ], + "start_rotation": [ + 0, + 0.97707, + 0, + -0.2129 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.28866, + "euclidean_distance": 3.07415, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04859, + 0.23034, + 2.17735 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:358UUM7WR16B33QM8O09D1WA5P0R74", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -7.65041, + 0.23034, + 2.08424 + ], + "start_rotation": [ + 0, + 0.97912, + 0, + -0.20328 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.75534, + "euclidean_distance": 8.42721, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60237, + 0.22693, + 3.69289 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AT3HI6B4AF1C5:3QECW5O0KJ49WEPVOKQ7FWJW244T56", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.15041, + 0.03034, + 2.689 + ], + "start_rotation": [ + 0, + 0.27893, + 0, + -0.96031 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.25822, + "euclidean_distance": 6.84848, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61419, + 0.22894, + 3.65527 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "aecbb791f30b452a9236c5a8c7030663", + [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db" + ], + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3XCC1ODXDNEL9LV14N9FDSD4UFYQRP", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.17685, + 0.03034, + 2.54963 + ], + "start_rotation": [ + 0, + 0.93877, + 0, + -0.34455 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.26261, + "euclidean_distance": 3.9736, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.6251, + 0.23034, + 3.57099 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:33M4IA01QI45IIWDQ147709XU6MRX3", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.61093, + 0.03034, + 2.42751 + ], + "start_rotation": [ + 0, + 0.18982, + 0, + 0.98182 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.70135, + "euclidean_distance": 3.48014, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61136, + 0.22797, + 3.61074 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3DI28L7YXCH8JD6FX2Z0DK6D8F31EI", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.81581, + 0.23034, + 0.85273 + ], + "start_rotation": [ + 0, + 0.84938, + 0, + -0.52778 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.40012, + "euclidean_distance": 11.78579, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.57933, + 0.22095, + 3.53603 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3YMU66OBIPBH72NK5MS95A7XHJNHG2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.70075, + 0.03034, + 2.28659 + ], + "start_rotation": [ + 0, + 0.77852, + 0, + 0.62762 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.79895, + "euclidean_distance": 4.55189, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.58608, + 0.22221, + 3.52755 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c" + ], + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3N4BPTXIOAVREAPNVCKNMHOGMHDKU2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.92146, + -0.53495, + 1.65247 + ], + "start_rotation": [ + 0, + 0.54575, + 0, + -0.83795 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.22511, + "euclidean_distance": 2.97004, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04962, + 0.23034, + 2.17219 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3QFUFYSY90IHHQ3UFV28T0YHBZX4F0", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.30922, + 0.03034, + 2.23448 + ], + "start_rotation": [ + 0, + 0.78375, + 0, + -0.62108 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.40653, + "euclidean_distance": 6.11177, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62573, + 0.23034, + 3.55709 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3G5W44VEU9L89SOSB7V6I2NOWOTKG8", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.13207, + 0.03034, + 2.28106 + ], + "start_rotation": [ + 0, + 0.04999, + 0, + 0.99875 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.22668, + "euclidean_distance": 5.92872, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62652, + 0.23034, + 3.53978 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:32ZKVD547HQ6MD8AAFBT05FQI13B3Y", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.94586, + -0.54117, + 1.68539 + ], + "start_rotation": [ + 0, + 0.75101, + 0, + -0.66029 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.23417, + "euclidean_distance": 2.99025, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.00484, + 0.23034, + 2.1697 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3R3YRB5GRH6L2XG1JL7YS3LKH62AUY", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -8.28614, + 0.23034, + 2.63941 + ], + "start_rotation": [ + 0, + 0.78011, + 0, + 0.62564 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.37585, + "euclidean_distance": 8.9689, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59472, + 0.22473, + 3.61659 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3U088ZLJVMW2TO7OMJP6LLU4QRQ0W0", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.99399, + -0.26884, + 2.20577 + ], + "start_rotation": [ + 0, + 0.79923, + 0, + 0.60103 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.30234, + "euclidean_distance": 14.69836, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62018, + 0.23034, + 3.67921 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3EQHHY4HQUV5R93P4KR0GD46ZWI5GO", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.37172, + -0.41811, + 2.16624 + ], + "start_rotation": [ + 0, + 0.66808, + 0, + -0.74409 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.55352, + "euclidean_distance": 2.37702, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.07634, + 0.23034, + 2.08718 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553", + [ + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3N4BPTXIOAVREAPNVCKNMHOGMIQKUH", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.89972, + -0.16966, + 1.7282 + ], + "start_rotation": [ + 0, + 0.25195, + 0, + -0.96774 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.55908, + "euclidean_distance": 14.65842, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62235, + 0.23034, + 3.63148 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NQL1CS15TBMBU344HVJRB59HJ6VYL", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.0686, + 0.03034, + 2.57879 + ], + "start_rotation": [ + 0, + 0.37954, + 0, + 0.92518 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.15433, + "euclidean_distance": 5.80194, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.5733, + 0.22045, + 3.61319 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3QY5DC2MXTNGYOX9U1TQ64WAX0UFU4", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -3.79199, + 0.03034, + 2.40118 + ], + "start_rotation": [ + 0, + 0.08848, + 0, + -0.99608 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.88192, + "euclidean_distance": 4.60475, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62722, + 0.23034, + 3.52447 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TMSXRD2X8320DS6I2T6ZQDEYSTW1H", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.32032, + -0.38901, + 1.46755 + ], + "start_rotation": [ + 0, + 0.22678, + 0, + -0.97395 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.86721, + "euclidean_distance": 2.40189, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.06504, + 0.23034, + 2.19736 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3DR23U6WE7H9SXIOZLJAJQP9J7PTEH", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -4.63696, + 0.03034, + 2.43376 + ], + "start_rotation": [ + 0, + 0.44324, + 0, + 0.89641 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 5.72481, + "euclidean_distance": 5.4118, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59715, + 0.22621, + 3.72746 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3GM6G9ZBKP074LA1GJ7TWYUIOZRTMT", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.28452, + 0.03034, + 2.48489 + ], + "start_rotation": [ + 0, + 0.13887, + 0, + 0.99031 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.37215, + "euclidean_distance": 3.15687, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61952, + 0.23034, + 3.6938 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3I33IC7ZWH5CIL7Z01XSMKQRFUO2AM", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.0008, + 0.23034, + 0.65351 + ], + "start_rotation": [ + 0, + 0.58231, + 0, + -0.81296 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.27213, + "euclidean_distance": 1.0956, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.13657, + 0.23034, + 1.4108 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "20fd759be0b64fc9aa96d290f0a704ec", + "path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3H8DHMCCWBE5X8E19HUYCHKRJUYKDF", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -7.45174, + 0.23034, + 2.51442 + ], + "start_rotation": [ + 0, + 0.80528, + 0, + 0.59289 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.54055, + "euclidean_distance": 8.1584, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.52955, + 0.2115, + 3.58223 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:34J10VATJH18GMSIE0F6Z0CDA7DQIY", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.9037, + 0.03034, + 2.4531 + ], + "start_rotation": [ + 0, + 0.54844, + 0, + -0.83619 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.99214, + "euclidean_distance": 3.74479, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59866, + 0.22513, + 3.57458 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3CTOC39K39TU5F790JR0BAAJZIKJ76", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.3651, + -0.41252, + 2.00075 + ], + "start_rotation": [ + 0, + 0.94375, + 0, + 0.33065 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.59174, + "euclidean_distance": 2.36991, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.23138, + 0.23034, + 2.04251 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3CX0LXFHZ6I3I:36WLNQG781D9WBO7ZZSPJWJN9QZEBY", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -5.12522, + 0.03034, + 2.57138 + ], + "start_rotation": [ + 0, + 0.47584, + 0, + -0.87953 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.21093, + "euclidean_distance": 5.85889, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.51533, + 0.20999, + 3.72678 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GLB5JMZFZY0VMIIJQ9JEPSZT17GDT", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.26169, + -0.38328, + 1.79918 + ], + "start_rotation": [ + 0, + 0.4176, + 0, + -0.90863 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.58766, + "euclidean_distance": 2.27981, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.03845, + 0.23034, + 2.20328 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + [ + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3KMS4QQVK4T2VSSX0NPO0HND8LZKFI", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -12.49814, + 0.23034, + 1.73095 + ], + "start_rotation": [ + 0, + 0.74974, + 0, + -0.66173 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.61474, + "euclidean_distance": 13.26518, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61433, + 0.22921, + 3.68304 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "20fd759be0b64fc9aa96d290f0a704ec", + "path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3H8DHMCCWBE5X8E19HUYCHKSW83KDR", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.4121, + 0.0757, + 2.47277 + ], + "start_rotation": [ + 0, + 0.98273, + 0, + 0.18504 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.49872, + "euclidean_distance": 7.14034, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62377, + 0.23034, + 3.60021 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d841f7b710f9470796d55561f8f524db", + "path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3S96KQ6I9O740R4O3Q8QD87OFLSDTO", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.14607, + -0.37153, + 2.43411 + ], + "start_rotation": [ + 0, + 0.67373, + 0, + -0.73897 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.31918, + "euclidean_distance": 2.1729, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.20343, + 0.23034, + 2.20772 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3PW9OPU9PSNGOXUZ4I4ZBJXPULJ12P", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -8.59923, + 0.23034, + 2.23678 + ], + "start_rotation": [ + 0, + 0.97416, + 0, + 0.22588 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.69418, + "euclidean_distance": 9.33477, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62675, + 0.23034, + 3.5348 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + [ + "006933a75f764c5485cf284bea0ded0b" + ], + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:308Q0PEVBAG2ONBWXY4KD5MPHTXI9J", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.66908, + -0.48582, + 2.36691 + ], + "start_rotation": [ + 0, + 0.94944, + 0, + 0.31396 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.95125, + "euclidean_distance": 15.36336, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.60773, + 0.22765, + 3.65466 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37WLF8U1WRT6CZZMZUMK6BAZYKKK6G", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.05041, + 0.23034, + 1.81907 + ], + "start_rotation": [ + 0, + 0.51954, + 0, + 0.85445 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.16763, + "euclidean_distance": 10.83521, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62615, + 0.23034, + 3.54787 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AXY0D2AMLKE2A:3MD9PLUKKKH98F40YCBBV1KZELRZNJ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.31273, + -0.39129, + 1.63468 + ], + "start_rotation": [ + 0, + 0.59593, + 0, + 0.80304 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.74127, + "euclidean_distance": 2.35721, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.17227, + 0.23034, + 2.15205 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:33JKGHPFYEX9985HJNLHNZOQZH8MNO", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.18546, + -0.3741, + 2.15856 + ], + "start_rotation": [ + 0, + 0.78413, + 0, + -0.6206 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.38476, + "euclidean_distance": 2.1857, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04103, + 0.23034, + 2.05695 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TEM0PF1Q703KI7X5OKGTX5I5WM0DJ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.45399, + -0.42898, + 1.81773 + ], + "start_rotation": [ + 0, + 0.0565, + 0, + -0.9984 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.74043, + "euclidean_distance": 2.47363, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.15486, + 0.23034, + 2.12969 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BWI6RSP7ICMUZLHMIG9EUXRQ0I7EF", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.8559, + -0.18347, + 2.16767 + ], + "start_rotation": [ + 0, + 0.20599, + 0, + 0.97855 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.028, + "euclidean_distance": 1.81912, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.21244, + 0.23034, + 2.06176 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3JPSL1DZ5U2877WSMKVCE8TPSLPNA2", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -2.55615, + 0.03034, + 1.66731 + ], + "start_rotation": [ + 0, + 0.93271, + 0, + -0.36064 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.61024, + "euclidean_distance": 2.61024, + "closest_goal_object_id": 78, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.10023, + 0.03582, + 1.72878 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "82ea5baa30f945fe98f6cad3064af847", + "path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "82ea5baa30f945fe98f6cad3064af847", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "d841f7b710f9470796d55561f8f524db", + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DUZQ9U6SORPF8RV5B3U9PH9HKJSV4", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.69718, + -0.48508, + 1.77138 + ], + "start_rotation": [ + 0, + 0.45745, + 0, + -0.88923 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.97476, + "euclidean_distance": 2.72666, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.08926, + 0.23034, + 2.16984 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VE8AYVF8O0I0RQWRYSLACEMEMG8F1", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.786, + -0.50209, + 1.61191 + ], + "start_rotation": [ + 0, + 0.84024, + 0, + 0.54221 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.12162, + "euclidean_distance": 2.83894, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.13768, + 0.23034, + 2.25164 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ZPPDN2SLXZQ8I9A1FETSQOW8CIE93", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -7.7978, + 0.23034, + 2.51496 + ], + "start_rotation": [ + 0, + 0.8102, + 0, + 0.58615 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.06687, + "euclidean_distance": 2.06687, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -9.69747, + 0.23034, + 1.99149 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec", + [ + "8e38fdd81c7949db9646968bafbbdcfc" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KKG4CDWKK18GGCHC92GJ4C692X496", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.94769, + -0.54154, + 1.75337 + ], + "start_rotation": [ + 0, + 0.97788, + 0, + -0.20919 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.21001, + "euclidean_distance": 2.98357, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.14925, + 0.23034, + 2.01855 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3PEIJLRY6VWAQEDZPVEDUZHEMLYXW9", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -11.59949, + 0.23034, + 1.68172 + ], + "start_rotation": [ + 0, + 0.31955, + 0, + -0.94757 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.72995, + "euclidean_distance": 12.38525, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59801, + 0.2256, + 3.64082 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "20fd759be0b64fc9aa96d290f0a704ec", + "path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X73LLYYQ3HNHU46SQ54VUGUIVAHNB", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.84397, + -0.13456, + 1.62974 + ], + "start_rotation": [ + 0, + 0.96054, + 0, + 0.27815 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.51747, + "euclidean_distance": 1.85467, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.12307, + 0.23034, + 2.16574 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3U4J9857OGEONW9XCREJDMR5APR7BU", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.45501, + -0.42554, + 1.66632 + ], + "start_rotation": [ + 0, + 0.02937, + 0, + 0.99957 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.81309, + "euclidean_distance": 2.49519, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04679, + 0.23034, + 2.21235 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663" + ], + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + [ + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1" + ] + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3QFUFYSY90IHHQ3UFV28T0YHF9EF4G", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.52979, + -0.442, + 1.61998 + ], + "start_rotation": [ + 0, + 0.94608, + 0, + 0.32394 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.89874, + "euclidean_distance": 2.57867, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.17102, + 0.23034, + 2.19554 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3B837J3LDQZXM1AEWRYK8SS6WD3RS5", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.77481, + 0.23034, + 0.58592 + ], + "start_rotation": [ + 0, + 0.97168, + 0, + -0.23632 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.4728, + "euclidean_distance": 11.81371, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.61714, + 0.23029, + 3.74053 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3G0WWMR1UXN0UN39BGSY488UW69QNG", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -6.71501, + 0.22579, + 2.57628 + ], + "start_rotation": [ + 0, + 0.91666, + 0, + 0.39967 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.80425, + "euclidean_distance": 7.4207, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62435, + 0.23034, + 3.58753 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "006933a75f764c5485cf284bea0ded0b", + "path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0" + ], + "0_edge_3_newN_1", + "e4ede0695e4e4a77aae8537abb9f11d3", + [ + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3DQQ64TANIO5H5B8344W0MVC185WPR", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.7113, + -0.48615, + 1.67898 + ], + "start_rotation": [ + 0, + 0.86924, + 0, + 0.49439 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.02596, + "euclidean_distance": 2.7529, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.09844, + 0.23034, + 2.11173 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "d838acff82244c2da0cf2651e54966cb", + "path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "d838acff82244c2da0cf2651e54966cb", + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + [ + "20fd759be0b64fc9aa96d290f0a704ec" + ] + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3OB0CAO74JSHTT8KZSEFCAE1QP7YHZ", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -10.35306, + 0.23034, + 0.77823 + ], + "start_rotation": [ + 0, + 0.38432, + 0, + 0.9232 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.0928, + "euclidean_distance": 11.35637, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.59476, + 0.22446, + 3.58644 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "8e38fdd81c7949db9646968bafbbdcfc", + "path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847" + ], + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3OF2M9AATIR809JX1ZJV393VLRXKZD", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -11.04162, + 0.23034, + 1.94356 + ], + "start_rotation": [ + 0, + 0.83973, + 0, + -0.543 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.14773, + "euclidean_distance": 11.79324, + "closest_goal_object_id": 75, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + 0.62374, + 0.23034, + 3.60089 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_chair", + "start_potision_viewpoint_id": "20fd759be0b64fc9aa96d290f0a704ec", + "path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_3_newN_0", + "0_edge_3_newN_1", + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf", + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ], + "refined_path": [ + "20fd759be0b64fc9aa96d290f0a704ec", + "8e38fdd81c7949db9646968bafbbdcfc", + "006933a75f764c5485cf284bea0ded0b", + "d841f7b710f9470796d55561f8f524db", + "01c80b5f8fbd4c969ee0bc03f1ec7a6c", + "82ea5baa30f945fe98f6cad3064af847", + "0_edge_6_newN_0", + "d471e89e00be49f49a7ecace814d60bf", + [ + "82ea5baa30f945fe98f6cad3064af847" + ], + "0_edge_3_newN_0", + "0_edge_3_newN_1", + [ + "0_edge_3_newN_0", + "82ea5baa30f945fe98f6cad3064af847", + "d471e89e00be49f49a7ecace814d60bf" + ], + "b34af02ce9b642ebbd0c7e9e0ba3b553" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3SKRO2GZ73UB5DYPTOA3BFJJ7BRK1S", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -13.55737, + 0.11126, + 2.33328 + ], + "start_rotation": [ + 0, + 0.72529, + 0, + 0.68844 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.57739, + "euclidean_distance": 1.49537, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04318, + 0.23034, + 2.09557 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33C7UALJVN1RACWOKZD0LAARZX181U", + "scene_id": "mp3d/YmJkqBEsHnH/YmJkqBEsHnH.glb", + "start_position": [ + -14.03226, + -0.26719, + 1.80927 + ], + "start_rotation": [ + 0, + 0.30708, + 0, + -0.95168 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.40576, + "euclidean_distance": 2.02903, + "closest_goal_object_id": 47, + "navigation_bounds": [ + [ + -16.23829, + -0.96966, + -1.18431 + ], + [ + 4.10911, + 7.19272, + 5.28194 + ] + ], + "best_viewpoint_position": [ + -12.04836, + 0.23034, + 2.12974 + ] + }, + "goals": [], + "goals_key": "YmJkqBEsHnH.glb_table", + "start_potision_viewpoint_id": "aecbb791f30b452a9236c5a8c7030663", + "path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ], + "refined_path": [ + "aecbb791f30b452a9236c5a8c7030663", + "20fd759be0b64fc9aa96d290f0a704ec" + ] + } +] \ No newline at end of file