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  1. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan12_FloorPlan212/ep_l2_dynamic_tracking_FloorPlan12_FloorPlan212.json +0 -0
  2. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan13_FloorPlan213/ep_l2_dynamic_tracking_FloorPlan13_FloorPlan213.json +0 -0
  3. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan14_FloorPlan214/ep_l2_dynamic_tracking_FloorPlan14_FloorPlan214.json +0 -0
  4. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan16_FloorPlan216/ep_l2_dynamic_tracking_FloorPlan16_FloorPlan216.json +0 -0
  5. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan1_FloorPlan201/ep_l2_dynamic_tracking_FloorPlan1_FloorPlan201.json +0 -0
  6. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan206_FloorPlan306/ep_l2_dynamic_tracking_FloorPlan206_FloorPlan306.json +0 -0
  7. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan213_FloorPlan313/ep_l2_dynamic_tracking_FloorPlan213_FloorPlan313.json +0 -0
  8. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan220_FloorPlan320/ep_l2_dynamic_tracking_FloorPlan220_FloorPlan320.json +0 -0
  9. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan230_FloorPlan330/ep_l2_dynamic_tracking_FloorPlan230_FloorPlan330.json +0 -0
  10. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan28_FloorPlan228/ep_l2_dynamic_tracking_FloorPlan28_FloorPlan228.json +0 -0
  11. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan306_FloorPlan406/ep_l2_dynamic_tracking_FloorPlan306_FloorPlan406.json +0 -0
  12. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan308_FloorPlan408/ep_l2_dynamic_tracking_FloorPlan308_FloorPlan408.json +0 -0
  13. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan309_FloorPlan409/ep_l2_dynamic_tracking_FloorPlan309_FloorPlan409.json +0 -0
  14. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan310_FloorPlan410/ep_l2_dynamic_tracking_FloorPlan310_FloorPlan410.json +0 -0
  15. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan311_FloorPlan411/ep_l2_dynamic_tracking_FloorPlan311_FloorPlan411.json +0 -0
  16. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan314_FloorPlan414/ep_l2_dynamic_tracking_FloorPlan314_FloorPlan414.json +0 -0
  17. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan315_FloorPlan415/ep_l2_dynamic_tracking_FloorPlan315_FloorPlan415.json +0 -0
  18. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan323_FloorPlan423/ep_l2_dynamic_tracking_FloorPlan323_FloorPlan423.json +0 -0
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan12_FloorPlan212/ep_l2_dynamic_tracking_FloorPlan12_FloorPlan212.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan13_FloorPlan213/ep_l2_dynamic_tracking_FloorPlan13_FloorPlan213.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan14_FloorPlan214/ep_l2_dynamic_tracking_FloorPlan14_FloorPlan214.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan16_FloorPlan216/ep_l2_dynamic_tracking_FloorPlan16_FloorPlan216.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan1_FloorPlan201/ep_l2_dynamic_tracking_FloorPlan1_FloorPlan201.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan206_FloorPlan306/ep_l2_dynamic_tracking_FloorPlan206_FloorPlan306.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan213_FloorPlan313/ep_l2_dynamic_tracking_FloorPlan213_FloorPlan313.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan220_FloorPlan320/ep_l2_dynamic_tracking_FloorPlan220_FloorPlan320.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan230_FloorPlan330/ep_l2_dynamic_tracking_FloorPlan230_FloorPlan330.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan28_FloorPlan228/ep_l2_dynamic_tracking_FloorPlan28_FloorPlan228.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan306_FloorPlan406/ep_l2_dynamic_tracking_FloorPlan306_FloorPlan406.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan308_FloorPlan408/ep_l2_dynamic_tracking_FloorPlan308_FloorPlan408.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan310_FloorPlan410/ep_l2_dynamic_tracking_FloorPlan310_FloorPlan410.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan311_FloorPlan411/ep_l2_dynamic_tracking_FloorPlan311_FloorPlan411.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan314_FloorPlan414/ep_l2_dynamic_tracking_FloorPlan314_FloorPlan414.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan315_FloorPlan415/ep_l2_dynamic_tracking_FloorPlan315_FloorPlan415.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan323_FloorPlan423/ep_l2_dynamic_tracking_FloorPlan323_FloorPlan423.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan324_FloorPlan424/ep_l2_dynamic_tracking_FloorPlan324_FloorPlan424.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan3_FloorPlan203/ep_l2_dynamic_tracking_FloorPlan3_FloorPlan203.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan427_FloorPlan27/ep_l2_dynamic_tracking_FloorPlan427_FloorPlan27.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan9_FloorPlan209/ep_l2_dynamic_tracking_FloorPlan9_FloorPlan209.json ADDED
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+ {
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+ "episode_name": "L2-动态位置追踪",
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+ "description": "测试模型能否追踪自己搬动过的物体位置，经历噪声后仍记得当前位置而非初始位置",
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+ "difficulty": "L2",
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+ "memory_cues": [
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+ {
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+ "cue_id": "cue_moved_object",
10
+ "cue_type": "self_action",
11
+ "description": "Agent 把 CellPhone 从 DiningTable 搬到了 Shelf",
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+ "planted_in_session": 1,
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+ "planted_at_step": -1,
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+ "object_id": "CellPhone|surface|2|13",
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+ "initial_location": "DiningTable|2|2",
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+ "tested_in_probe": "probe_track_location"
17
+ }
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+ ],
19
+ "sessions": [
20
+ {
21
+ "session_id": "session_1",
22
+ "session_name": "LivingRoom任务执行（Context）",
23
+ "scene": "ProcTHOR-test-000038",
24
+ "room_type": "LivingRoom",
25
+ "context_trajectory": {
26
+ "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Shelf, then put CellPhone on Shelf。把 CellPhone 从 DiningTable 搬到了 Shelf。",
27
+ "total_steps": 9,
28
+ "steps": [
29
+ {
30
+ "step_id": 0,
31
+ "image_path": "obs_000.png",
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+ "visible_objects": [
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+ {
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+ "object_id": "Cart|2|3",
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+ "object_type": "Cart",
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+ "position": {
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+ "x": 0.652,
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+ "y": 0.002,
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+ "z": 1.734
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+ },
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+ "distance": 0.52,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "CellPhone|surface|2|13",
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+ "object_type": "CellPhone",
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+ "position": {
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+ "x": 1.29,
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+ "y": 0.635,
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+ "z": 2.888
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+ },
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+ "distance": 0.84,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "DiningTable|2|2",
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+ "object_type": "DiningTable",
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+ "position": {
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+ "x": 0.748,
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+ "y": 0.001,
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+ "z": 3.089
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+ },
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+ "distance": 0.84,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "KeyChain|surface|2|12",
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+ "object_type": "KeyChain",
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+ "position": {
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+ "x": 0.748,
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+ "y": 0.636,
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+ "z": 2.989
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+ },
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+ "distance": 0.74,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Laptop|surface|2|9",
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+ "object_type": "Laptop",
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+ "position": {
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+ "x": 0.387,
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+ "y": 0.635,
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+ "z": 3.29
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+ },
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+ "distance": 1.1,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Newspaper|surface|2|2",
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+ "object_type": "Newspaper",
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+ "position": {
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+ "x": 1.783,
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+ "y": 0.761,
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+ "z": 3.245
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+ },
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+ "distance": 1.43,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Plate|surface|2|0",
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+ "object_type": "Plate",
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+ "position": {
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+ "x": 1.109,
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+ "y": 0.637,
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+ "z": 3.089
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+ },
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+ "distance": 0.91,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "RemoteControl|surface|2|7",
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+ "object_type": "RemoteControl",
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+ "position": {
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+ "x": 1.846,
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+ "y": 0.869,
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+ "z": 3.362
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+ },
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+ "distance": 1.56,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "SideTable|2|4",
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+ "object_type": "SideTable",
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+ "position": {
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+ "x": 1.922,
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+ "y": 0.004,
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+ "z": 3.322
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+ },
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+ "distance": 1.59,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "wall|exterior|0.00|0.00|0.00|3.52",
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+ "object_type": "Wall",
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+ "position": {
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+ "x": 0.0,
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+ "y": 1.456,
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+ "z": 1.758
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+ },
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+ "distance": 0.9,
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+ "in_view_center": false
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+ },
143
+ {
144
+ "object_id": "wall|exterior|0.00|3.52|3.52|3.52",
145
+ "object_type": "Wall",
146
+ "position": {
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+ "x": 1.758,
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+ "y": 1.456,
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+ "z": 3.516
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+ },
151
+ "distance": 1.62,
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+ "in_view_center": false
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+ },
154
+ {
155
+ "object_id": "wall|2|0.00|0.00|0.00|3.52",
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+ "object_type": "Wall",
157
+ "position": {
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+ "x": 0.0,
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+ "y": 1.456,
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+ "z": 1.758
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+ },
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+ "distance": 0.9,
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+ "in_view_center": false
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+ }
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+ ],
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+ "agent_state": {
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+ "position": {
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+ "x": 0.75,
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+ "y": 0.9009993672370911,
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+ "z": 2.25
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+ },
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+ "rotation_y": 359.8938903808594,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": null
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+ },
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+ "action": {
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+ "action_type": "Navigate",
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+ "target": "DiningTable|2|2",
179
+ "instrument": null,
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+ "natural_language": "Navigate to DiningTable"
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+ },
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+ "feedback": {
183
+ "success": true,
184
+ "message": "Navigated to DiningTable|2|2",
185
+ "event_memory_tag": null
186
+ },
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+ "memory_cue_exposed": null
188
+ },
189
+ {
190
+ "step_id": 1,
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+ "image_path": "obs_001.png",
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+ "visible_objects": [
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+ {
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+ "object_id": "Cart|2|3",
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+ "object_type": "Cart",
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+ "position": {
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+ "x": 0.652,
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+ "y": 0.002,
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+ "z": 1.734
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+ },
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+ "distance": 0.52,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "CellPhone|surface|2|13",
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+ "object_type": "CellPhone",
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+ "position": {
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+ "x": 0.75,
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+ "y": 1.167,
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+ "z": 2.301
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+ },
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+ "distance": 0.05,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "DiningTable|2|2",
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+ "object_type": "DiningTable",
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+ "position": {
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+ "x": 0.748,
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+ "y": 0.001,
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+ "z": 3.089
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+ },
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+ "distance": 0.84,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "KeyChain|surface|2|12",
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+ "object_type": "KeyChain",
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+ "position": {
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+ "x": 0.748,
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+ "y": 0.636,
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+ "z": 2.989
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+ },
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+ "distance": 0.74,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Laptop|surface|2|9",
239
+ "object_type": "Laptop",
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+ "position": {
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+ "x": 0.387,
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+ "y": 0.635,
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+ "z": 3.29
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+ },
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+ "distance": 1.1,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Newspaper|surface|2|2",
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+ "object_type": "Newspaper",
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+ "position": {
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+ "x": 1.783,
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+ "y": 0.761,
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+ "z": 3.245
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+ },
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+ "distance": 1.43,
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+ "in_view_center": false
258
+ },
259
+ {
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+ "object_id": "Plate|surface|2|0",
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+ "object_type": "Plate",
262
+ "position": {
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+ "x": 1.109,
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+ "y": 0.637,
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+ "z": 3.089
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+ },
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+ "distance": 0.91,
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+ "in_view_center": false
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+ },
270
+ {
271
+ "object_id": "RemoteControl|surface|2|7",
272
+ "object_type": "RemoteControl",
273
+ "position": {
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+ "x": 1.846,
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+ "y": 0.869,
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+ "z": 3.362
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+ },
278
+ "distance": 1.56,
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+ "in_view_center": false
280
+ },
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+ {
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+ "object_id": "SideTable|2|4",
283
+ "object_type": "SideTable",
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+ "position": {
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+ "x": 1.922,
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+ "y": 0.004,
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+ "z": 3.322
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+ },
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+ "distance": 1.59,
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+ "in_view_center": false
291
+ },
292
+ {
293
+ "object_id": "wall|exterior|0.00|0.00|0.00|3.52",
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+ "object_type": "Wall",
295
+ "position": {
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+ "x": 0.0,
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+ "y": 1.456,
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+ "z": 1.758
299
+ },
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+ "distance": 0.9,
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+ "in_view_center": false
302
+ },
303
+ {
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+ "object_id": "wall|exterior|0.00|3.52|3.52|3.52",
305
+ "object_type": "Wall",
306
+ "position": {
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+ "x": 1.758,
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+ "y": 1.456,
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+ "z": 3.516
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+ },
311
+ "distance": 1.62,
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+ "in_view_center": false
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+ },
314
+ {
315
+ "object_id": "wall|2|0.00|0.00|0.00|3.52",
316
+ "object_type": "Wall",
317
+ "position": {
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+ "x": 0.0,
319
+ "y": 1.456,
320
+ "z": 1.758
321
+ },
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+ "distance": 0.9,
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+ "in_view_center": false
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+ }
325
+ ],
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+ "agent_state": {
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+ "position": {
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+ "x": 0.75,
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+ "y": 0.9009993672370911,
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+ "z": 2.25
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+ },
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+ "rotation_y": 359.8938903808594,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": "CellPhone|surface|2|13"
335
+ },
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+ "action": {
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+ "action_type": "PickUp",
338
+ "target": "CellPhone|surface|2|13",
339
+ "instrument": null,
340
+ "natural_language": "Pick up CellPhone"
341
+ },
342
+ "feedback": {
343
+ "success": true,
344
+ "message": "Picked up CellPhone|surface|2|13",
345
+ "event_memory_tag": null
346
+ },
347
+ "memory_cue_exposed": null
348
+ },
349
+ {
350
+ "step_id": 2,
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+ "image_path": "obs_002.png",
352
+ "visible_objects": [
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+ {
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+ "object_id": "Bowl|surface|2|4",
355
+ "object_type": "Bowl",
356
+ "position": {
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+ "x": 3.298,
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+ "y": 0.753,
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+ "z": 1.834
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+ },
361
+ "distance": 0.57,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "CellPhone|surface|2|13",
366
+ "object_type": "CellPhone",
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+ "position": {
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+ "x": 2.801,
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+ "y": 1.167,
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+ "z": 1.996
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+ },
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+ "distance": 0.05,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pencil|surface|2|11",
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+ "object_type": "Pencil",
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+ "position": {
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+ "x": 3.014,
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+ "y": 0.181,
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+ "z": 2.129
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+ },
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+ "distance": 0.29,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "RoomDecor|2|1",
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+ "object_type": "RoomDecor",
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+ "position": {
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+ "x": 3.385,
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+ "y": 0.002,
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+ "z": 1.261
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+ "distance": 0.97,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "TVStand|2|0|0___0",
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+ "object_type": "Shelf",
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+ "position": {
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+ "y": 0.278,
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+ "z": 3.122
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+ },
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+ "distance": 1.22,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_type": "Shelf",
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+ },
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+ "distance": 0.47,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "TVStand|2|0|0___5",
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+ "object_type": "Shelf",
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+ "position": {
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+ "z": 2.543
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+ },
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+ "distance": 0.72,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Television|2|0|1",
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+ "object_type": "Television",
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+ "y": 1.065,
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+ "z": 2.543
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+ },
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+ "distance": 0.78,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "TVStand|2|0|0",
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+ "object_type": "TVStand",
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+ "position": {
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+ "x": 3.225,
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+ "y": -0.001,
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+ "z": 2.545
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+ },
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+ "distance": 0.72,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "wall|exterior|3.52|0.00|3.52|3.52",
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+ "object_type": "Wall",
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+ "position": {
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+ "y": 1.456,
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+ "z": 1.758
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+ },
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+ "distance": 0.8,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "wall|2|3.52|0.00|3.52|3.52",
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+ "object_type": "Wall",
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+ "position": {
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+ "y": 1.456,
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+ "z": 1.758
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+ },
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+ "distance": 0.8,
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+ "in_view_center": false
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+ }
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+ ],
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+ "agent_state": {
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+ "z": 2.0
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+ },
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+ "rotation_y": 94.17192840576172,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": "CellPhone|surface|2|13"
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+ },
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+ "action": {
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+ "action_type": "Navigate",
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+ "target": "TVStand|2|0|0___3",
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+ "instrument": null,
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+ "natural_language": "Navigate to Shelf"
490
+ },
491
+ "feedback": {
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+ "success": true,
493
+ "message": "Navigated to TVStand|2|0|0___3",
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+ "event_memory_tag": null
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+ },
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+ "memory_cue_exposed": null
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+ },
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+ {
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+ "step_id": 3,
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+ "image_path": "obs_003.png",
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+ "visible_objects": [
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+ "object_id": "Bowl|surface|2|4",
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+ "object_type": "Bowl",
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+ "position": {
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+ "y": 0.753,
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+ "z": 1.834
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+ },
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+ "distance": 0.57,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Candle|surface|2|6",
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+ "object_type": "Candle",
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+ "position": {
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+ "y": 0.168,
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+ "z": 2.049
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+ },
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+ "distance": 0.29,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "CellPhone|surface|2|13",
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+ "object_type": "CellPhone",
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+ "position": {
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+ "z": 2.208
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+ },
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+ "distance": 0.39,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pencil|surface|2|11",
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+ "object_type": "Pencil",
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+ },
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+ "distance": 0.29,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "RoomDecor|2|1",
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+ "object_type": "RoomDecor",
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+ "distance": 0.97,
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+ "in_view_center": false
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+ },
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+ },
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+ },
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+ },
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+ "distance": 0.78,
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+ "in_view_center": false
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+ },
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+ },
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+ },
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+ "in_view_center": false
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+ }
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+ ],
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+ "agent_state": {
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+ },
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+ "rotation_y": 94.17192840576172,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": null
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+ },
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+ "action": {
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+ "action_type": "PutObject",
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+ "target": "TVStand|2|0|0___3",
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+ "instrument": null,
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+ "natural_language": "Put CellPhone on Shelf"
650
+ },
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+ "feedback": {
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+ "success": true,
653
+ "message": "Put object on TVStand|2|0|0___3",
654
+ "event_memory_tag": null
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+ },
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+ "memory_cue_exposed": null
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+ },
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+ {
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+ "step_id": 4,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": null
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+ },
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+ "action": {
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+ "action_type": "PutObject",
1941
+ "target": "ArmChair|2|3|0",
1942
+ "instrument": null,
1943
+ "natural_language": "Put Pillow on ArmChair"
1944
+ },
1945
+ "feedback": {
1946
+ "success": true,
1947
+ "message": "Put object on ArmChair|2|3|0",
1948
+ "event_memory_tag": null
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+ },
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+ "memory_cue_exposed": null
1951
+ },
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+ {
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+ "image_path": "obs_005.png",
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1965
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1966
+ },
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1968
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1969
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1970
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1975
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1976
+ "in_view_center": false
1977
+ },
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+ {
1979
+ "object_id": "DiningTable|2|1|0",
1980
+ "object_type": "DiningTable",
1981
+ "position": {
1982
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1983
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1984
+ "z": 2.906
1985
+ },
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+ "distance": 1.09,
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+ "in_view_center": false
1988
+ },
1989
+ {
1990
+ "object_id": "Laptop|surface|2|3",
1991
+ "object_type": "Laptop",
1992
+ "position": {
1993
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1994
+ "y": 0.74,
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+ "z": 3.02
1996
+ },
1997
+ "distance": 0.98,
1998
+ "in_view_center": false
1999
+ },
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+ {
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+ "object_id": "Mug|surface|2|5",
2002
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2003
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2004
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2005
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2007
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2009
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2010
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2011
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2012
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2013
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2014
+ "position": {
2015
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2016
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2017
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2018
+ },
2019
+ "distance": 0.78,
2020
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2021
+ },
2022
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2023
+ "object_id": "wall|2|0.00|4.27|8.54|4.27",
2024
+ "object_type": "Wall",
2025
+ "position": {
2026
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2027
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+ "z": 4.267
2029
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2030
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2031
+ "in_view_center": false
2032
+ }
2033
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2034
+ "agent_state": {
2035
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2036
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2037
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2038
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2039
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2040
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2041
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2044
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2045
+ "action_type": "Navigate",
2046
+ "target": "DiningTable|2|1|0",
2047
+ "instrument": null,
2048
+ "natural_language": "Navigate to DiningTable"
2049
+ },
2050
+ "feedback": {
2051
+ "success": true,
2052
+ "message": "Navigated to DiningTable|2|1|0",
2053
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2054
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2055
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2056
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2057
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2058
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2059
+ "image_path": "obs_006.png",
2060
+ "visible_objects": [
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2062
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2063
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2064
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2065
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2066
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2067
+ "z": 2.467
2068
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2069
+ "distance": 1.53,
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+ "in_view_center": false
2071
+ },
2072
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2073
+ "object_id": "Chair|2|1|1",
2074
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2075
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2076
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2078
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2079
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2080
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2082
+ },
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+ "object_type": "DiningTable",
2086
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2087
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2088
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2090
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2091
+ "distance": 1.09,
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+ "in_view_center": false
2093
+ },
2094
+ {
2095
+ "object_id": "Laptop|surface|2|3",
2096
+ "object_type": "Laptop",
2097
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+ "y": 1.173,
2100
+ "z": 3.915
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+ "in_view_center": false
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+ },
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+ "object_type": "Mug",
2108
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2109
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2115
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2119
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2126
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2133
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2134
+ "rotation_y": 179.47174072265625,
2135
+ "camera_horizon": 55.26896286010742,
2136
+ "holding": "Laptop|surface|2|3"
2137
+ },
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+ "action": {
2139
+ "action_type": "PickUp",
2140
+ "target": "Laptop|surface|2|3",
2141
+ "instrument": null,
2142
+ "natural_language": "Pick up Laptop"
2143
+ },
2144
+ "feedback": {
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2146
+ "message": "Picked up Laptop|surface|2|3",
2147
+ "event_memory_tag": null
2148
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2150
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2151
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2152
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+ "object_type": "Pillow",
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2228
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2229
+ "camera_horizon": 60.000003814697266,
2230
+ "holding": "Laptop|surface|2|3"
2231
+ },
2232
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2234
+ "target": "ArmChair|2|3|0",
2235
+ "instrument": null,
2236
+ "natural_language": "Navigate to ArmChair"
2237
+ },
2238
+ "feedback": {
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2240
+ "message": "Navigated to ArmChair|2|3|0",
2241
+ "event_memory_tag": null
2242
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+ "visible_objects": [
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2250
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2252
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2254
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2255
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2256
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2257
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2260
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2267
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2268
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+ "in_view_center": false
2270
+ },
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2272
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2273
+ "object_type": "Laptop",
2274
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2276
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2278
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2279
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+ "in_view_center": false
2281
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2282
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2283
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+ "object_type": "Pillow",
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+ "y": 0.732,
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+ "z": 0.986
2289
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2290
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+ "in_view_center": false
2292
+ },
2293
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2294
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2295
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2296
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2297
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2298
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+ "z": 0.0
2300
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2301
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2302
+ "in_view_center": false
2303
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2304
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2305
+ "object_id": "wall|2|0.00|0.00|8.54|0.00",
2306
+ "object_type": "Wall",
2307
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2308
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2309
+ "y": 1.7,
2310
+ "z": 0.0
2311
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2312
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2313
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2314
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2315
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2316
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2319
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2320
+ "z": 1.5
2321
+ },
2322
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2323
+ "camera_horizon": 60.000003814697266,
2324
+ "holding": null
2325
+ },
2326
+ "action": {
2327
+ "action_type": "PutObject",
2328
+ "target": "ArmChair|2|3|0",
2329
+ "instrument": null,
2330
+ "natural_language": "Put Laptop on ArmChair"
2331
+ },
2332
+ "feedback": {
2333
+ "success": true,
2334
+ "message": "Put object on ArmChair|2|3|0",
2335
+ "event_memory_tag": null
2336
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2337
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2338
+ }
2339
+ ]
2340
+ },
2341
+ "micro_probe": {
2342
+ "probe_id": "probe_track_location",
2343
+ "probe_level": "L2",
2344
+ "instruction": "去LivingRoom把CellPhone拿过来。",
2345
+ "context": "模型在 Context 中把 CellPhone 从 DiningTable 搬到了 Shelf，需要追踪到当前位置",
2346
+ "scene": "ProcTHOR-test-000038",
2347
+ "expected_actions": [
2348
+ {
2349
+ "action_type": "Navigate",
2350
+ "target": "TVStand|2|0|0___3",
2351
+ "object_held": null
2352
+ },
2353
+ {
2354
+ "action_type": "Navigate",
2355
+ "target": "CellPhone|surface|2|13",
2356
+ "object_held": null
2357
+ },
2358
+ {
2359
+ "action_type": "PickUp",
2360
+ "target": "CellPhone|surface|2|13",
2361
+ "object_held": null
2362
+ }
2363
+ ],
2364
+ "optimal_steps": 3,
2365
+ "max_steps": 20,
2366
+ "evaluation_hooks": {
2367
+ "success_condition": "CellPhone|surface|2|13 picked up",
2368
+ "rar_triggers": [
2369
+ {
2370
+ "trigger_condition": "Navigate to DiningTable (初始位置)",
2371
+ "penalty_type": "stale_spatial_memory",
2372
+ "weight": 3.0,
2373
+ "description": "去了 DiningTable（初始位置）而非 Shelf（当前位置），没有追踪到自己的搬动操作"
2374
+ }
2375
+ ],
2376
+ "err_triggers": []
2377
+ },
2378
+ "state_changes": [
2379
+ {
2380
+ "object_id": "CellPhone|surface|2|13",
2381
+ "change_type": "position_change",
2382
+ "old_value": "DiningTable|2|2",
2383
+ "new_value": "TVStand|2|0|0___3",
2384
+ "description": "CellPhone was moved from DiningTable to Shelf during Context."
2385
+ }
2386
+ ]
2387
+ }
2388
+ }
2389
+ ],
2390
+ "scene_metadata": {}
2391
+ }
episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000045_ProcTHOR-test-000545/ep_l2_dynamic_tracking_ProcTHOR-test-000045_ProcTHOR-test-000545.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000049_ProcTHOR-test-000549/ep_l2_dynamic_tracking_ProcTHOR-test-000049_ProcTHOR-test-000549.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000064_ProcTHOR-test-000564/ep_l2_dynamic_tracking_ProcTHOR-test-000064_ProcTHOR-test-000564.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000067_ProcTHOR-test-000567/ep_l2_dynamic_tracking_ProcTHOR-test-000067_ProcTHOR-test-000567.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000077_ProcTHOR-test-000577/ep_l2_dynamic_tracking_ProcTHOR-test-000077_ProcTHOR-test-000577.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000082_ProcTHOR-test-000582/ep_l2_dynamic_tracking_ProcTHOR-test-000082_ProcTHOR-test-000582.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000086_ProcTHOR-test-000586/ep_l2_dynamic_tracking_ProcTHOR-test-000086_ProcTHOR-test-000586.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000092_ProcTHOR-test-000592/ep_l2_dynamic_tracking_ProcTHOR-test-000092_ProcTHOR-test-000592.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000096_ProcTHOR-test-000596/ep_l2_dynamic_tracking_ProcTHOR-test-000096_ProcTHOR-test-000596.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000099_ProcTHOR-test-000599/ep_l2_dynamic_tracking_ProcTHOR-test-000099_ProcTHOR-test-000599.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000105_ProcTHOR-test-000605/ep_l2_dynamic_tracking_ProcTHOR-test-000105_ProcTHOR-test-000605.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000123_ProcTHOR-test-000623/ep_l2_dynamic_tracking_ProcTHOR-test-000123_ProcTHOR-test-000623.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000125_ProcTHOR-test-000625/ep_l2_dynamic_tracking_ProcTHOR-test-000125_ProcTHOR-test-000625.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000131_ProcTHOR-test-000631/ep_l2_dynamic_tracking_ProcTHOR-test-000131_ProcTHOR-test-000631.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000136_ProcTHOR-test-000636/ep_l2_dynamic_tracking_ProcTHOR-test-000136_ProcTHOR-test-000636.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000140_ProcTHOR-test-000640/ep_l2_dynamic_tracking_ProcTHOR-test-000140_ProcTHOR-test-000640.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000148_ProcTHOR-test-000648/ep_l2_dynamic_tracking_ProcTHOR-test-000148_ProcTHOR-test-000648.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000149_ProcTHOR-test-000649/ep_l2_dynamic_tracking_ProcTHOR-test-000149_ProcTHOR-test-000649.json ADDED
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