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  2. episodes/dynamic_tracking/ep_l2_dynamic_tracking_FloorPlan202_FloorPlan302/ep_l2_dynamic_tracking_FloorPlan202_FloorPlan302.json +0 -0
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1
+ {
2
+ "episode_id": "ep_l2_dynamic_tracking_ProcTHOR-test-000061_ProcTHOR-test-000561",
3
+ "episode_name": "L2-动态位置追踪",
4
+ "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",
5
+ "difficulty": "L2",
6
+ "hidden_rules": [],
7
+ "memory_cues": [
8
+ {
9
+ "cue_id": "cue_moved_object",
10
+ "cue_type": "self_action",
11
+ "description": "Agent 把 Bowl 从 SideTable 搬到了 CounterTop",
12
+ "planted_in_session": 1,
13
+ "planted_at_step": -1,
14
+ "object_id": "Bowl|surface|3|17",
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+ "initial_location": "SideTable|3|4",
16
+ "tested_in_probe": "probe_track_location"
17
+ }
18
+ ],
19
+ "sessions": [
20
+ {
21
+ "session_id": "session_1",
22
+ "session_name": "Kitchen任务执行（Context）",
23
+ "scene": "ProcTHOR-test-000061",
24
+ "room_type": "Kitchen",
25
+ "context_trajectory": {
26
+ "description": "执行 L1 任务：[L0] Put Egg on Pot；[tracking_move] Move Bowl to CounterTop。把 Bowl 从 SideTable 搬到了 CounterTop。",
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": "Bowl|surface|3|17",
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+ "object_type": "Bowl",
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+ "position": {
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+ "x": 2.609,
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+ "y": 0.519,
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+ "z": 5.095
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+ },
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+ "distance": 0.61,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "DiningTable|3|1|0",
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+ "object_type": "DiningTable",
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+ "position": {
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+ "x": 1.154,
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+ "y": 0.003,
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+ "z": 4.318
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+ },
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+ "distance": 1.36,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "door|2|3",
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+ "object_type": "Doorframe",
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+ "position": {
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+ "x": 3.581,
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+ "y": -0.002,
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+ "z": 2.576
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+ },
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+ "distance": 2.21,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Egg|surface|2|4",
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+ "object_type": "Egg",
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+ "position": {
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+ "x": 2.596,
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+ "y": 0.573,
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+ "z": 5.086
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+ },
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+ "distance": 0.59,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Painting|3|6",
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+ "object_type": "Painting",
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+ "position": {
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+ "x": 3.575,
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+ "y": 1.686,
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+ "z": 4.945
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+ },
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+ "distance": 1.16,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pencil|surface|3|16",
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+ "object_type": "Pencil",
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+ "position": {
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+ "x": 2.57,
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+ "y": 0.628,
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+ "z": 5.123
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+ },
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+ "distance": 0.63,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "SideTable|3|4",
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+ "object_type": "SideTable",
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+ "position": {
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+ "x": 2.718,
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+ "y": 0.001,
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+ "z": 5.087
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+ },
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+ "distance": 0.63,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Spatula|surface|2|6",
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+ "object_type": "Spatula",
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+ "position": {
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+ "x": 2.608,
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+ "y": 0.754,
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+ "z": 5.135
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+ },
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+ "distance": 0.64,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Vase|surface|3|10",
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+ "object_type": "Vase",
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+ "position": {
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+ "x": 1.96,
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+ "y": 0.769,
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+ "z": 4.327
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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": "wall|3|3.58|0.00|3.58|5.37",
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+ "object_type": "Wall",
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+ "position": {
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+ "x": 3.58,
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+ "y": 1.543,
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+ "z": 2.685
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+ },
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+ "distance": 2.11,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "wall|3|0.00|5.37|3.58|5.37",
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+ "object_type": "Wall",
146
+ "position": {
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+ "x": 1.79,
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+ "y": 1.543,
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+ "z": 5.37
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+ },
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+ "distance": 1.12,
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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|5.37|3.58|5.37",
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+ "object_type": "Wall",
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+ "position": {
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+ "x": 1.79,
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+ "y": 1.543,
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+ "z": 5.37
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+ },
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+ "distance": 1.12,
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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": 2.5,
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+ "y": 0.9009993672370911,
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+ "z": 4.5
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+ },
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+ "rotation_y": 10.341967582702637,
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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": "Bowl|surface|3|17",
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+ "instrument": null,
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+ "natural_language": "Navigate to Bowl"
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+ },
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+ "feedback": {
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+ "success": true,
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+ "message": "Navigated to Bowl|surface|3|17",
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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": 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": "Bowl|surface|3|17",
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+ "object_type": "Bowl",
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+ "position": {
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+ "x": 2.609,
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+ "y": 0.519,
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+ "z": 5.095
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+ },
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+ "distance": 0.61,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "DiningTable|3|1|0",
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+ "object_type": "DiningTable",
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+ "position": {
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+ "x": 1.154,
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+ "y": 0.003,
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+ "z": 4.318
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+ },
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+ "distance": 1.36,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "door|2|3",
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+ "object_type": "Doorframe",
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+ "position": {
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+ "x": 3.581,
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+ "y": -0.002,
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+ "z": 2.576
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+ },
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+ "distance": 2.21,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Egg|surface|2|4",
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+ "object_type": "Egg",
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+ "position": {
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+ "x": 2.509,
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+ "y": 1.167,
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+ "z": 4.551
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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": "Painting|3|6",
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+ "object_type": "Painting",
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+ "position": {
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+ "x": 3.575,
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+ "y": 1.686,
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+ "z": 4.945
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+ },
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+ "distance": 1.16,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pencil|surface|3|16",
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+ "object_type": "Pencil",
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+ "position": {
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+ "x": 2.57,
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+ "y": 0.628,
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+ "z": 5.123
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+ },
256
+ "distance": 0.63,
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+ "in_view_center": false
258
+ },
259
+ {
260
+ "object_id": "SideTable|3|4",
261
+ "object_type": "SideTable",
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+ "position": {
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+ "x": 2.718,
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+ "y": 0.001,
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+ "z": 5.087
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+ },
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+ "distance": 0.63,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Spatula|surface|2|6",
272
+ "object_type": "Spatula",
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+ "position": {
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+ "x": 2.608,
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+ "y": 0.754,
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+ "z": 5.135
277
+ },
278
+ "distance": 0.64,
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+ "in_view_center": false
280
+ },
281
+ {
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+ "object_id": "Vase|surface|3|10",
283
+ "object_type": "Vase",
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+ "position": {
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+ "x": 1.96,
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+ "y": 0.769,
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+ "z": 4.327
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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": "wall|3|3.58|0.00|3.58|5.37",
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+ "object_type": "Wall",
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+ "position": {
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+ "x": 3.58,
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+ "y": 1.543,
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+ "z": 2.685
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+ },
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+ "distance": 2.11,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "wall|3|0.00|5.37|3.58|5.37",
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+ "object_type": "Wall",
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+ "position": {
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+ "y": 1.543,
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+ "z": 5.37
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+ },
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+ "distance": 1.12,
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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|5.37|3.58|5.37",
316
+ "object_type": "Wall",
317
+ "position": {
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+ "x": 1.79,
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+ "y": 1.543,
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+ "z": 5.37
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+ },
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+ "distance": 1.12,
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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": 2.5,
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+ "y": 0.9009993672370911,
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+ "z": 4.5
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+ },
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+ "rotation_y": 10.341967582702637,
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+ "camera_horizon": 60.000003814697266,
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+ "holding": "Egg|surface|2|4"
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+ },
336
+ "action": {
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+ "action_type": "PickUp",
338
+ "target": "Egg|surface|2|4",
339
+ "instrument": null,
340
+ "natural_language": "Pick up Egg"
341
+ },
342
+ "feedback": {
343
+ "success": true,
344
+ "message": "Picked up Egg|surface|2|4",
345
+ "event_memory_tag": null
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+ },
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+ "memory_cue_exposed": null
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+ },
349
+ {
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+ "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": "CounterTop|2|0",
355
+ "object_type": "CounterTop",
356
+ "position": {
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+ "x": 7.135,
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+ "y": 0.001,
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+ "z": 3.073
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+ },
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+ "distance": 2.06,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Egg|surface|2|4",
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+ "object_type": "Egg",
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+ "position": {
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+ "x": 5.28,
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+ "y": 1.191,
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+ "z": 2.393
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+ },
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+ "distance": 0.15,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pot|surface|2|9",
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+ "object_type": "Pot",
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+ "position": {
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+ "x": 5.373,
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+ "y": 0.939,
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+ "z": 2.845
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+ },
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+ "distance": 0.61,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Vase|surface|2|0",
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+ }
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+ ],
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+ "camera_horizon": 46.36301040649414,
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+ "holding": "Egg|surface|2|4"
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+ },
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+ "action": {
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+ "action_type": "Navigate",
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+ "target": "Pot|surface|2|9",
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+ "instrument": null,
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+ "natural_language": "Navigate to Pot"
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+ },
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+ "feedback": {
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+ "success": true,
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+ "message": "Navigated to Pot|surface|2|9",
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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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+ {
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+ "object_id": "CounterTop|2|0",
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+ "object_type": "CounterTop",
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+ "z": 3.073
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+ },
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+ "distance": 2.06,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Egg|surface|2|4",
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+ "object_type": "Egg",
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+ "z": 2.801
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+ },
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+ "distance": 0.58,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pot|surface|2|9",
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+ "object_type": "Pot",
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+ },
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+ "distance": 0.61,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Vase|surface|2|0",
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+ "object_type": "Vase",
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+ },
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+ }
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+ ],
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+ "camera_horizon": 46.36301040649414,
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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": "Pot|surface|2|9",
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+ "instrument": null,
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+ "natural_language": "Put Egg on Pot"
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+ },
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+ "feedback": {
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+ "success": true,
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+ "message": "Put object on Pot|surface|2|9",
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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": 4,
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+ "image_path": "obs_004.png",
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+ "visible_objects": [
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+ {
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+ "object_id": "Bowl|surface|3|17",
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+ "object_type": "Bowl",
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+ "position": {
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+ },
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+ "distance": 0.61,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "DiningTable|3|1|0",
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+ "object_type": "DiningTable",
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+ "y": 0.003,
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+ },
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+ "distance": 1.36,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "door|2|3",
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+ },
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+ "distance": 2.21,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Painting|3|6",
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+ "object_type": "Painting",
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+ "z": 4.945
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+ },
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+ "distance": 1.16,
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+ "in_view_center": false
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+ },
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+ {
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+ "object_id": "Pencil|surface|3|16",
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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": "SaltShaker|surface|2|8",
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+ "object_type": "SaltShaker",
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+ },
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+ "z": 5.087
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+ },
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+ },
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+ {
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+ "object_id": "wall|exterior|0.00|5.37|3.58|5.37",
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+ },
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+ ],
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+ },
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+ "action": {
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+ "action_type": "Navigate",
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+ "target": "Bowl|surface|3|17",
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+ "instrument": null,
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+ "natural_language": "Navigate to Bowl"
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+ },
646
+ "feedback": {
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+ "message": "Navigated to Bowl|surface|3|17",
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+ "event_memory_tag": null
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+ },
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+ },
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+ {
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+ "scene_metadata": {}
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000062_ProcTHOR-test-000562/ep_l2_dynamic_tracking_ProcTHOR-test-000062_ProcTHOR-test-000562.json ADDED
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episodes/dynamic_tracking/ep_l2_dynamic_tracking_ProcTHOR-test-000065_ProcTHOR-test-000565/ep_l2_dynamic_tracking_ProcTHOR-test-000065_ProcTHOR-test-000565.json ADDED
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