Add files using upload-large-folder tool

train/000001/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 1,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Go around the right side of the center unit and stop by the right side doorway with the dining table and mirror in it. ', instruction_tokens=[1067, 159, 2389, 1968, 2121, 1605, 2389, 450, 2522, 119, 2278, 404, 2389, 1968, 2121, 766, 2661, 2389, 711, 2342, 119, 1515, 1237, 1272, 15])",
+  "instruction_text": "Go around the right side of the center unit and stop by the right side doorway with the dining table and mirror in it. ",
+  "num_steps": 44,
+  "total_unique_objects": 210,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the counter in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        396
+      ],
+      "metadata": {
+        "probe_object_id": 396,
+        "probe_category": "counter",
+        "probe_room": "kitchen",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -17.066499710083008,
+          0.9236749410629272,
+          0.24844297766685486
+        ],
+        "agent_position_when_seen": [
+          -16.267200469970703,
+          0.1518409252166748,
+          0.7207760214805603
+        ],
+        "pixel_centroid_x": 214.13106796116506,
+        "normalized_position_x": 0.672898968446602,
+        "object_pixel_count": 412,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the cabinet before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        346,
+        171
+      ],
+      "metadata": {
+        "object_A_id": 346,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 171,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 346,
+        "asked_second_object_id": 171
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 5,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) bathroom (C) tv",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "tv"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "tv"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the appliances to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        363,
+        385
+      ],
+      "metadata": {
+        "object_A_id": 363,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -16.00909996032715,
+          2.2562203407287598,
+          -0.47192299365997314
+        ],
+        "object_B_id": 385,
+        "object_B_category": "appliances",
+        "object_B_position": [
+          -17.016399383544922,
+          1.0858898162841797,
+          2.7316298484802246
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -16.267200469970703,
+          0.1518409252166748,
+          0.7207760214805603
+        ],
+        "agent_rotation": [
+          0.9913406372070312,
+          0.0,
+          0.1313156634569168,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 24,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) kitchen (C) dining room",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "kitchen",
+      "dining room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "bedroom",
+        "kitchen",
+        "dining room"
+      ],
+      "query_timestep_internal": 24,
+      "rooms_visited": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000003/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 3,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn to the right, go past the refrigerator.  Turn left and walk to the point where you're to the hallway by the entry and dining room area. \", instruction_tokens=[2494, 2438, 2389, 1968, 1067, 1728, 2389, 1946, 15, 2494, 1360, 119, 2584, 2438, 2389, 1835, 2633, 2703, 9, 1918, 2438, 2389, 1126, 404, 2389, 871, 119, 711, 1994, 150, 15])",
+  "instruction_text": "Turn to the right, go past the refrigerator.  Turn left and walk to the point where you're to the hallway by the entry and dining room area. ",
+  "num_steps": 44,
+  "total_unique_objects": 210,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the towel in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        366
+      ],
+      "metadata": {
+        "probe_object_id": 366,
+        "probe_category": "towel",
+        "probe_room": "kitchen",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -15.801400184631348,
+          0.5641208291053772,
+          1.4923298358917236
+        ],
+        "agent_position_when_seen": [
+          -16.267200469970703,
+          0.1518409252166748,
+          0.7207760214805603
+        ],
+        "pixel_centroid_x": 222.22505307855627,
+        "normalized_position_x": 0.7361332271762209,
+        "object_pixel_count": 471,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the cabinet before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        346,
+        171
+      ],
+      "metadata": {
+        "object_A_id": 346,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 171,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 346,
+        "asked_second_object_id": 171
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) office (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "office",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "bathroom",
+          "office",
+          "kitchen"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the counter to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        349,
+        396
+      ],
+      "metadata": {
+        "object_A_id": 349,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -17.0851993560791,
+          0.43144798278808594,
+          0.5332350730895996
+        ],
+        "object_B_id": 396,
+        "object_B_category": "counter",
+        "object_B_position": [
+          -17.066499710083008,
+          0.9236749410629272,
+          0.24844297766685486
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -16.267200469970703,
+          0.1518409252166748,
+          0.7207760214805603
+        ],
+        "agent_rotation": [
+          0.9235745668411255,
+          0.0,
+          0.38341906666755676,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 13,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) garage (B) dining room (C) kitchen",
+    "answer": "C",
+    "options": [
+      "garage",
+      "dining room",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "garage",
+        "dining room",
+        "kitchen"
+      ],
+      "query_timestep_internal": 13,
+      "rooms_visited": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000025/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 25,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='walk to the staircase, go down the staircase and stop in the middle of the staircase. ', instruction_tokens=[2584, 2438, 2389, 2220, 1067, 780, 2389, 2220, 119, 2278, 1237, 2389, 1506, 1605, 2389, 2220, 15])",
+  "instruction_text": "walk to the staircase, go down the staircase and stop in the middle of the staircase. ",
+  "num_steps": 59,
+  "total_unique_objects": 124,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the tv, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        285
+      ],
+      "metadata": {
+        "probe_object_id": 285,
+        "probe_category": "tv_monitor",
+        "probe_room": "tv",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 13,
+        "best_view_timestep": 14,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -0.7578110694885254,
+          1.5969500541687012,
+          5.945670127868652
+        ],
+        "agent_position_when_seen": [
+          -3.579366445541382,
+          3.4863269329071045,
+          -3.8835458755493164
+        ],
+        "pixel_centroid_x": 6.5899419729206965,
+        "normalized_position_x": -0.948516078336557,
+        "object_pixel_count": 517,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 59
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 58,
+      "question": "Along your path, did you see the  before or after the column?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        348,
+        20
+      ],
+      "metadata": {
+        "object_A_id": 348,
+        "object_A_category": "column",
+        "object_A_timestep": 0,
+        "object_B_id": 20,
+        "object_B_category": "",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 348
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) hallway (C) living room",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "living room"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 12,
+      "question": "From your current viewpoint, is the stairs to the left or right of the cushion?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        277,
+        295
+      ],
+      "metadata": {
+        "object_A_id": 277,
+        "object_A_category": "cushion",
+        "object_A_position": [
+          -3.2207000255584717,
+          0.6767368316650391,
+          7.521989822387695
+        ],
+        "object_B_id": 295,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          -4.500659942626953,
+          0.14346647262573242,
+          4.618219375610352
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -3.594263792037964,
+          3.4863269329071045,
+          -4.383323669433594
+        ],
+        "agent_rotation": [
+          -0.014899149537086487,
+          0.0,
+          0.9998890161514282,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) entryway/foyer/lobby (B) office (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "office",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_15",
+          "0_4",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "office",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "hallway, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "stairs",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "stairs",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 58,
+    "question": "Recall your earlier path. When you passed by the seating in the living room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      85
+    ],
+    "metadata": {
+      "probe_object_id": 85,
+      "probe_category": "seating",
+      "probe_room": "living room",
+      "probe_region_id": "0_5",
+      "first_seen_timestep": 14,
+      "best_view_timestep": 15,
+      "num_sightings": 2,
+      "spatial_relation": "left",
+      "object_position": [
+        0.017402052879333496,
+        0.04656076431274414,
+        4.160439968109131
+      ],
+      "agent_position_when_seen": [
+        -3.571917772293091,
+        3.4863269329071045,
+        -3.6336569786071777
+      ],
+      "pixel_centroid_x": 44.50625,
+      "normalized_position_x": -0.652294921875,
+      "object_pixel_count": 160,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 59
+    }
+  }
+}

train/000027/meta.json

@@ -0,0 +1,237 @@
+{
+  "episode_id": 27,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway to the overlook, go down the stairs to the right, wait halfway down the stairs. ', instruction_tokens=[2584, 780, 2389, 1126, 2438, 2389, 1672, 1067, 780, 2389, 2222, 2438, 2389, 1968, 2579, 1120, 780, 2389, 2222, 15])",
+  "instruction_text": "Walk down the hallway to the overlook, go down the stairs to the right, wait halfway down the stairs. ",
+  "num_steps": 59,
+  "total_unique_objects": 124,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the seating in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85
+      ],
+      "metadata": {
+        "probe_object_id": 85,
+        "probe_category": "seating",
+        "probe_room": "living room",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 15,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          0.017402052879333496,
+          0.04656076431274414,
+          4.160439968109131
+        ],
+        "agent_position_when_seen": [
+          -3.571917772293091,
+          3.4863269329071045,
+          -3.6336569786071777
+        ],
+        "pixel_centroid_x": 44.50625,
+        "normalized_position_x": -0.652294921875,
+        "object_pixel_count": 160,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 59
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 58,
+      "question": "Along your path, did you see the column before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        348,
+        20
+      ],
+      "metadata": {
+        "object_A_id": 348,
+        "object_A_category": "column",
+        "object_A_timestep": 0,
+        "object_B_id": 20,
+        "object_B_category": "",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 348,
+        "asked_second_object_id": 20
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 53,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) dining room (C) stairs",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "dining room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "dining room",
+          "stairs"
+        ],
+        "query_timestep_internal": 53,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 36,
+      "question": "From your current viewpoint, is the cushion to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        273,
+        287
+      ],
+      "metadata": {
+        "object_A_id": 273,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -5.618179798126221,
+          0.7800178527832031,
+          7.6173906326293945
+        ],
+        "object_B_id": 287,
+        "object_B_category": "cushion",
+        "object_B_position": [
+          -6.51485013961792,
+          0.9490056037902832,
+          5.48846960067749
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -4.869039058685303,
+          3.4863269329071045,
+          -1.638850212097168
+        ],
+        "agent_rotation": [
+          0.7841953039169312,
+          0.0,
+          0.6205140948295593,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 8,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) closet (B) hallway (C) bedroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "hallway",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_13",
+          "0_14",
+          "0_16",
+          "0_5",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "closet",
+          "hallway",
+          "bedroom"
+        ],
+        "context_rooms": "stairs, tv"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 1,
+    "question": "From your current position, will you pass through the stairs on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 1,
+      "current_room": "hallway",
+      "landmark_room": "stairs",
+      "final_room": "stairs",
+      "remaining_rooms": [
+        "hallway",
+        "stairs",
+        "hallway",
+        "stairs"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000039/meta.json

@@ -0,0 +1,190 @@
+{
+  "episode_id": 39,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Move out of the bathroom through the wooden doorway. Make a sharp right towards the stairs. Go up the stairs two steps and wait. ', instruction_tokens=[1537, 1658, 1605, 2389, 242, 2418, 2389, 2672, 766, 15, 1446, 73, 2091, 1968, 2452, 2389, 2222, 15, 1067, 2527, 2389, 2222, 2509, 2265, 119, 2579, 15])",
+  "instruction_text": "Move out of the bathroom through the wooden doorway. Make a sharp right towards the stairs. Go up the stairs two steps and wait. ",
+  "num_steps": 41,
+  "total_unique_objects": 47,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 40,
+      "question": "Recall your earlier path. When you passed by the cabinet in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        160
+      ],
+      "metadata": {
+        "probe_object_id": 160,
+        "probe_category": "cabinet",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 12,
+        "best_view_timestep": 12,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -18.869600296020508,
+          0.6339969635009766,
+          -10.561800003051758
+        ],
+        "agent_position_when_seen": [
+          -8.589034080505371,
+          -0.4622059762477875,
+          -7.906123161315918
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+        "pixel_centroid_x": 168.30188679245282,
+        "normalized_position_x": 0.31485849056603765,
+        "object_pixel_count": 106,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 41
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 40,
+      "question": "Along your path, did you see the furniture before or after the column?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        483,
+        154
+      ],
+      "metadata": {
+        "object_A_id": 483,
+        "object_A_category": "column",
+        "object_A_timestep": 5,
+        "object_B_id": 154,
+        "object_B_category": "furniture",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 154,
+        "asked_second_object_id": 483
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 20,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) balcony",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "balcony"
+        ],
+        "query_timestep_internal": 20,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_1",
+          "0_12",
+          "0_14",
+          "0_15",
+          "0_2",
+          "0_3"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "office"
+        ],
+        "context_rooms": "kitchen, balcony"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "office",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 40,
+    "question": "Along your path, did you see the column before or after the furniture?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      483,
+      154
+    ],
+    "metadata": {
+      "object_A_id": 483,
+      "object_A_category": "column",
+      "object_A_timestep": 5,
+      "object_B_id": 154,
+      "object_B_category": "furniture",
+      "object_B_timestep": 8,
+      "time_gap": 3,
+      "asked_first_object_id": 483,
+      "asked_second_object_id": 154
+    }
+  }
+}

train/000056/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 56,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the refrigerator and turn right.  Walk around the corner and turn right, facing the bathroom.  Walk to the entrance to the bathroom and stop. ', instruction_tokens=[2584, 1728, 2389, 1946, 119, 2494, 1968, 15, 2584, 159, 2389, 589, 119, 2494, 1968, 906, 2389, 242, 15, 2584, 2438, 2389, 867, 2438, 2389, 242, 119, 2278, 15])",
+  "instruction_text": "Walk past the refrigerator and turn right.  Walk around the corner and turn right, facing the bathroom.  Walk to the entrance to the bathroom and stop. ",
+  "num_steps": 50,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the shelving in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "shelving",
+        "probe_room": "living room",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 22,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
+          0.11730799078941345,
+          0.49222999811172485,
+          1.040369987487793
+        ],
+        "agent_position_when_seen": [
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+          0.20613819360733032,
+          0.053323015570640564
+        ],
+        "pixel_centroid_x": 24.788888888888888,
+        "normalized_position_x": -0.8063368055555555,
+        "object_pixel_count": 630,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the cabinet before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        35
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 35,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 8,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 12,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) bedroom (C) bathroom",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "bedroom",
+          "bathroom"
+        ],
+        "query_timestep_internal": 12,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the appliances to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        97,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 97,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -4.678800106048584,
+          0.1588609218597412,
+          1.625619888305664
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+        "object_B_id": 1,
+        "object_B_category": "appliances",
+        "object_B_position": [
+          -3.0428199768066406,
+          0.8492679595947266,
+          0.8891218900680542
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.16666600108146667,
+          -0.036678362637758255
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+        "agent_rotation": [
+          0.7592724561691284,
+          0.0,
+          -0.6507728695869446,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) dining room (B) bedroom (C) bathroom",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2",
+          "0_4"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "dining room",
+          "bedroom",
+          "bathroom"
+        ],
+        "context_rooms": "kitchen, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "kitchen",
+        "landmark_room": "dining room",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "entryway/foyer/lobby",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 17,
+    "question": "From your current viewpoint, is the table to the left or right of the curtain?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      25,
+      68
+    ],
+    "metadata": {
+      "object_A_id": 25,
+      "object_A_category": "curtain",
+      "object_A_position": [
+        0.35840702056884766,
+        1.1302199363708496,
+        -0.24892783164978027
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+      "object_B_id": 68,
+      "object_B_category": "table",
+      "object_B_position": [
+        -2.4870800971984863,
+        0.33633387088775635,
+        1.6655399799346924
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -3.6777467727661133,
+        0.16666600108146667,
+        -0.0816718190908432
+      ],
+      "agent_rotation": [
+        0.6678339242935181,
+        0.0,
+        -0.7443103790283203,
+        0.0
+      ]
+    }
+  }
+}

train/000058/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 58,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='turn left and walk towards opening on the right. Enter large hall. turn left towards short stairs. Go up short staircase and stop at the top between another set of stairs. ', instruction_tokens=[2494, 1360, 119, 2584, 2452, 1627, 1613, 2389, 1968, 15, 860, 1336, 1121, 15, 2494, 1360, 2452, 2107, 2222, 15, 1067, 2527, 2107, 2220, 119, 2278, 178, 2389, 2444, 294, 126, 2073, 1605, 2222, 15])",
+  "instruction_text": "turn left and walk towards opening on the right. Enter large hall. turn left towards short stairs. Go up short staircase and stop at the top between another set of stairs. ",
+  "num_steps": 109,
+  "total_unique_objects": 560,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 108,
+      "question": "Recall your earlier path. When you passed by the fireplace in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        353
+      ],
+      "metadata": {
+        "probe_object_id": 353,
+        "probe_category": "fireplace",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 91,
+        "best_view_timestep": 95,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          7.094210147857666,
+          -2.3456602096557617,
+          4.786049842834473
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+        "agent_position_when_seen": [
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+          -3.0793237686157227,
+          7.685493469238281
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+        "pixel_centroid_x": 220.60264900662253,
+        "normalized_position_x": 0.7234581953642385,
+        "object_pixel_count": 151,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 109
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 108,
+      "question": "Along your path, did you see the lighting before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        50
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "curtain",
+        "object_A_timestep": 2,
+        "object_B_id": 50,
+        "object_B_category": "lighting",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 50,
+        "asked_second_object_id": 8
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 72,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) hallway (C) junk",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "junk"
+        ],
+        "query_timestep_internal": 72,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "meetingroom/conferenceroom",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 103,
+      "question": "From your current viewpoint, is the stairs to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        585,
+        555
+      ],
+      "metadata": {
+        "object_A_id": 585,
+        "object_A_category": "objects",
+        "object_A_position": [
+          2.3869099617004395,
+          -2.626660108566284,
+          0.7225239276885986
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+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_12",
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "balcony",
+          "kitchen",
+          "hallway"
+        ],
+        "context_rooms": "stairs, familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 15,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "bedroom",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 38,
+    "question": "Along your path, did you see the stool before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      66,
+      28
+    ],
+    "metadata": {
+      "object_A_id": 66,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 28,
+      "object_B_category": "stool",
+      "object_B_timestep": 10,
+      "time_gap": 10,
+      "asked_first_object_id": 28,
+      "asked_second_object_id": 66
+    }
+  }
+}

train/000086/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 86,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb",
+  "instruction": "InstructionData(instruction_text='Move forward\\r\\nTurn left\\r\\nWalk forward past bed on platform\\r\\nWalk forward past green sofa\\r\\nStop in doorway. ', instruction_tokens=[1537, 993, 2494, 1360, 2584, 993, 1728, 267, 1613, 1820, 2584, 993, 1728, 1098, 2182, 2278, 1237, 766, 15])",
+  "instruction_text": "Move forward\r\nTurn left\r\nWalk forward past bed on platform\r\nWalk forward past green sofa\r\nStop in doorway. ",
+  "num_steps": 55,
+  "total_unique_objects": 373,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the workout/gym/exercise, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        515
+      ],
+      "metadata": {
+        "probe_object_id": 515,
+        "probe_category": "tv_monitor",
+        "probe_room": "workout/gym/exercise",
+        "probe_region_id": "0_29",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 46,
+        "num_sightings": 13,
+        "spatial_relation": "left",
+        "object_position": [
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+          -1.1955101490020752
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+          3.4844110012054443,
+          7.362456798553467
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+        "pixel_centroid_x": 35.284046692607006,
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+        "object_pixel_count": 257,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the column before or after the tv_monitor?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        132
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "tv_monitor",
+        "object_A_timestep": 0,
+        "object_B_id": 132,
+        "object_B_category": "column",
+        "object_B_timestep": 13,
+        "time_gap": 13,
+        "asked_first_object_id": 132,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 47,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) spa/sauna (B) bedroom (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "spa/sauna",
+        "bedroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "spa/sauna",
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+          "porch/terrace/deck"
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+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
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+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the beam to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+        497
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+      "metadata": {
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+        "object_A_category": "objects",
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+        "object_B_category": "beam",
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+    {
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+      "query_timestep": 2,
+      "question": "You are currently in the bedroom, and you can see the bedroom, bathroom. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) toilet (B) closet (C) stairs",
+      "answer": "A",
+      "options": [
+        "toilet",
+        "closet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_1",
+        "adjacent_rooms": [
+          "2_0",
+          "2_2",
+          "2_3"
+        ],
+        "correct_answer_room": "2_3",
+        "all_options": [
+          "toilet",
+          "closet",
+          "stairs"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 54,
+    "question": "Recall your earlier path. When you passed by the sofa in the workout/gym/exercise, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      529
+    ],
+    "metadata": {
+      "probe_object_id": 529,
+      "probe_category": "sofa",
+      "probe_room": "workout/gym/exercise",
+      "probe_region_id": "0_29",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 42,
+      "num_sightings": 32,
+      "spatial_relation": "left",
+      "object_position": [
+        -3.916059970855713,
+        -2.0590598583221436,
+        -0.9865412712097168
+      ],
+      "agent_position_when_seen": [
+        1.3306368589401245,
+        3.4844110012054443,
+        8.361031532287598
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+      "pixel_centroid_x": 29.980198019801982,
+      "normalized_position_x": -0.7657797029702971,
+      "object_pixel_count": 505,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 55
+    }
+  }
+}

train/000096/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 96,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and go right down the hallway. Stop in the entrance to the bedroom. ', instruction_tokens=[2494, 159, 119, 1067, 1968, 780, 2389, 1126, 15, 2278, 1237, 2389, 867, 2438, 2389, 273, 15])",
+  "instruction_text": "Turn around and go right down the hallway. Stop in the entrance to the bedroom. ",
+  "num_steps": 48,
+  "total_unique_objects": 127,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 47,
+      "question": "Recall your earlier path. When you passed by the furniture in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        172
+      ],
+      "metadata": {
+        "probe_object_id": 172,
+        "probe_category": "furniture",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_8",
+        "first_seen_timestep": 19,
+        "best_view_timestep": 27,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.940539836883545,
+          2.6737396717071533
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+          2.9162778854370117,
+          -1.5568387508392334
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+        "normalized_position_x": -0.7838748019017433,
+        "object_pixel_count": 1262,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 48
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 47,
+      "question": "Along your path, did you see the sink before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        200,
+        104
+      ],
+      "metadata": {
+        "object_A_id": 200,
+        "object_A_category": "sink",
+        "object_A_timestep": 2,
+        "object_B_id": 104,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 200,
+        "asked_second_object_id": 104
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 9,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) familyroom/lounge (C) living room",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 9,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 42,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        207,
+        220
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+      "metadata": {
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+        "object_A_category": "furniture",
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+          6.050650119781494
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+        "object_B_id": 220,
+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          0.5339150428771973,
+          4.321959972381592
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+        "spatial_relation": "left",
+        "agent_position": [
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+          2.9162778854370117,
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+          -0.8257918357849121,
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+      }
+    },
+    {
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+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) bathroom (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bathroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_5",
+          "1_6"
+        ],
+        "correct_answer_room": "1_6",
+        "all_options": [
+          "hallway",
+          "bathroom",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "stairs",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 47,
+    "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      426
+    ],
+    "metadata": {
+      "probe_object_id": 426,
+      "probe_category": "table",
+      "probe_room": "kitchen",
+      "probe_region_id": "0_17",
+      "first_seen_timestep": 8,
+      "best_view_timestep": 8,
+      "num_sightings": 1,
+      "spatial_relation": "right",
+      "object_position": [
+        -7.599989891052246,
+        0.46128198504447937,
+        0.7783169746398926
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+      "agent_position_when_seen": [
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+        2.031308650970459,
+        0.48961400985717773
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+      "pixel_centroid_x": 163.88349514563106,
+      "normalized_position_x": 0.28033980582524265,
+      "object_pixel_count": 103,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 48
+    }
+  }
+}

train/000103/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 103,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk into the bedroom.  Turn right and go past the bed and then turn right again.  You will see a bathroom.  Wait right at the entrance of that room. ', instruction_tokens=[2494, 159, 119, 2584, 1264, 2389, 273, 15, 2494, 1968, 119, 1067, 1728, 2389, 267, 119, 2394, 2494, 1968, 95, 15, 2703, 2648, 2059, 73, 242, 15, 2579, 1968, 178, 2389, 867, 1605, 2388, 1994, 15])",
+  "instruction_text": "Turn around and walk into the bedroom.  Turn right and go past the bed and then turn right again.  You will see a bathroom.  Wait right at the entrance of that room. ",
+  "num_steps": 42,
+  "total_unique_objects": 67,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "question": "Recall your earlier path. When you passed by the picture in the office, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        490
+      ],
+      "metadata": {
+        "probe_object_id": 490,
+        "probe_category": "picture",
+        "probe_room": "office",
+        "probe_region_id": "1_23",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.675079345703125,
+          5.011569499969482
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+        "agent_position_when_seen": [
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+          3.115546703338623,
+          -3.1310558319091797
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+        "normalized_position_x": -0.9766098484848484,
+        "object_pixel_count": 165,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 42
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 41,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        490
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 490,
+        "object_B_category": "picture",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 490
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) hallway (C) bedroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "hallway",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "office",
+          "hallway",
+          "bedroom"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "bedroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the chair to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        488,
+        475
+      ],
+      "metadata": {
+        "object_A_id": 488,
+        "object_A_category": "table",
+        "object_A_position": [
+          -15.168600082397461,
+          0.2603278160095215,
+          6.2841901779174805
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+        "object_B_id": 475,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -13.775300025939941,
+          0.765009880065918,
+          4.512360095977783
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+        "spatial_relation": "left",
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train/000114/meta.json

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train/000124/meta.json

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train/000145/meta.json

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train/000149/meta.json

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+}

train/000171/meta.json

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+}

train/000186/meta.json

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train/000230/meta.json

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train/000233/meta.json

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train/000255/meta.json

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+    "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) closet (C) bedroom",
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+}

train/000274/meta.json

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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
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+}

train/000279/meta.json

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+{
+  "episode_id": 279,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the door on the wall next to the bathroom sink. Walk into the hallway and turn the corner past the painting on the wall. Continue down the hall past the red abstract painting and walk into the bedroom door near the painting. Walk through the bedroom and out onto the deck area on the other side of the rooom. ', instruction_tokens=[2584, 2418, 2389, 757, 1613, 2389, 2593, 1576, 2438, 2389, 242, 2132, 15, 2584, 1264, 2389, 1126, 119, 2494, 2389, 589, 1728, 2389, 1688, 1613, 2389, 2593, 15, 569, 780, 2389, 1121, 1728, 2389, 1939, 79, 1688, 119, 2584, 1264, 2389, 273, 757, 1563, 2389, 1688, 15, 2584, 2418, 2389, 273, 119, 1658, 1620, 2389, 676, 150, 1613, 2389, 1651, 2121, 1605, 2389, 1996, 15])",
+  "instruction_text": "Walk through the door on the wall next to the bathroom sink. Walk into the hallway and turn the corner past the painting on the wall. Continue down the hall past the red abstract painting and walk into the bedroom door near the painting. Walk through the bedroom and out onto the deck area on the other side of the rooom. ",
+  "num_steps": 88,
+  "total_unique_objects": 172,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 87,
+      "question": "Recall your earlier path. When you passed by the cabinet in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        440
+      ],
+      "metadata": {
+        "probe_object_id": 440,
+        "probe_category": "cabinet",
+        "probe_room": "closet",
+        "probe_region_id": "0_25",
+        "first_seen_timestep": 29,
+        "best_view_timestep": 32,
+        "num_sightings": 15,
+        "spatial_relation": "right",
+        "object_position": [
+          4.115349769592285,
+          -0.05468571186065674,
+          -0.5170339941978455
+        ],
+        "agent_position_when_seen": [
+          4.752773284912109,
+          3.115649938583374,
+          7.9283127784729
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+        "pixel_centroid_x": 233.2552693208431,
+        "normalized_position_x": 0.8223067915690867,
+        "object_pixel_count": 854,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 88
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 87,
+      "question": "Along your path, did you see the bed before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        6
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "sofa",
+        "object_A_timestep": 19,
+        "object_B_id": 6,
+        "object_B_category": "bed",
+        "object_B_timestep": 26,
+        "time_gap": 7,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 43
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) stairs (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "stairs",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "stairs",
+          "hallway"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 70,
+      "question": "From your current viewpoint, is the picture in front of or behind the stairs?",
+      "answer": "in front of",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        236,
+        464
+      ],
+      "metadata": {
+        "object_A_id": 236,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          1.54656982421875,
+          0.7938517928123474,
+          8.900419235229492
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+        "object_B_id": 464,
+        "object_B_category": "picture",
+        "object_B_position": [
+          0.8620579838752747,
+          0.45429372787475586,
+          5.40470027923584
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+        "spatial_relation": "in front of",
+        "agent_position": [
+          1.1200611591339111,
+          3.115649938583374,
+          1.4591655731201172
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+        "agent_rotation": [
+          0.9942289590835571,
+          0.0,
+          0.10727928578853607,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 48,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) bar (B) dining room (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "bar",
+        "dining room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_14",
+        "adjacent_rooms": [
+          "0_20",
+          "0_21",
+          "0_22",
+          "0_26",
+          "0_27"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "bar",
+          "dining room",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "lounge, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 57,
+    "question": "From your current viewpoint, is the picture to the left or right of the stairs?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      236,
+      465
+    ],
+    "metadata": {
+      "object_A_id": 236,
+      "object_A_category": "stairs",
+      "object_A_position": [
+        1.54656982421875,
+        0.7938517928123474,
+        8.900419235229492
+      ],
+      "object_B_id": 465,
+      "object_B_category": "picture",
+      "object_B_position": [
+        0.8586180210113525,
+        0.4259028434753418,
+        6.3483099937438965
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        2.022001028060913,
+        3.115649938583374,
+        3.487361431121826
+      ],
+      "agent_rotation": [
+        0.9325855374336243,
+        0.0,
+        0.36094921827316284,
+        0.0
+      ]
+    }
+  }
+}

train/000291/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 291,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the dining room area passed the dining table. Walk over to the blue couch near the window. ', instruction_tokens=[2584, 2418, 2389, 711, 1994, 150, 1725, 2389, 711, 2342, 15, 2584, 1669, 2438, 2389, 324, 593, 1563, 2389, 2652, 15])",
+  "instruction_text": "Walk through the dining room area passed the dining table. Walk over to the blue couch near the window. ",
+  "num_steps": 45,
+  "total_unique_objects": 59,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 44,
+      "question": "Recall your earlier path. When you passed by the counter in the kitchen, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        153
+      ],
+      "metadata": {
+        "probe_object_id": 153,
+        "probe_category": "counter",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.211659908294678,
+          0.14711904525756836,
+          -4.739719867706299
+        ],
+        "agent_position_when_seen": [
+          -7.2218499183654785,
+          -0.2089579850435257,
+          -6.024400234222412
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+        "pixel_centroid_x": 69.55166051660517,
+        "normalized_position_x": -0.45662765221402213,
+        "object_pixel_count": 542,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 45
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 44,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        105,
+        198
+      ],
+      "metadata": {
+        "object_A_id": 105,
+        "object_A_category": "",
+        "object_A_timestep": 9,
+        "object_B_id": 198,
+        "object_B_category": "objects",
+        "object_B_timestep": 33,
+        "time_gap": 24,
+        "asked_first_object_id": 105,
+        "asked_second_object_id": 198
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 17,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) utilityroom/toolroom (C) closet",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "utilityroom/toolroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "utilityroom/toolroom",
+          "closet"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 33,
+      "question": "From your current viewpoint, is the stairs to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        193,
+        210
+      ],
+      "metadata": {
+        "object_A_id": 193,
+        "object_A_category": "sofa",
+        "object_A_position": [
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+          0.1789839267730713,
+          0.6219649314880371
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+        "object_B_id": 210,
+        "object_B_category": "stairs",
+        "object_B_position": [
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+          1.2124300003051758,
+          0.6541550159454346
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -2.748830795288086
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+        "agent_rotation": [
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+          0.0,
+          0.999876856803894,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "You are currently in the kitchen, and you can see the living room, stairs. Based on your understanding of the environment layout, which other area is the kitchen directly connected to? (A) bathroom (B) other room (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "other room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_12",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "bathroom",
+          "other room",
+          "hallway"
+        ],
+        "context_rooms": "living room, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "kitchen",
+        "landmark_room": "closet",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 9,
+    "question": "From your current viewpoint, is the table to the left or right of the sofa?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      193,
+      155
+    ],
+    "metadata": {
+      "object_A_id": 193,
+      "object_A_category": "sofa",
+      "object_A_position": [
+        -6.4316301345825195,
+        0.1789839267730713,
+        0.6219649314880371
+      ],
+      "object_B_id": 155,
+      "object_B_category": "table",
+      "object_B_position": [
+        -7.449339866638184,
+        0.0946953296661377,
+        -3.2246997356414795
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -7.2218499183654785,
+        -0.2089579850435257,
+        -6.024400234222412
+      ],
+      "agent_rotation": [
+        0.48634588718414307,
+        0.0,
+        0.8737664222717285,
+        0.0
+      ]
+    }
+  }
+}

train/000298/meta.json

@@ -0,0 +1,95 @@
+{
+  "episode_id": 298,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward through the kitchen past the stove and the sink. Once you pass the kitchen you will enter the dining room. In the dining room stop next to the first dining chair. ', instruction_tokens=[2584, 993, 2418, 2389, 1306, 1728, 2389, 2284, 119, 2389, 2132, 15, 1615, 2703, 1721, 2389, 1306, 2703, 2648, 860, 2389, 711, 1994, 15, 1237, 2389, 711, 1994, 2278, 1576, 2438, 2389, 946, 711, 457, 15])",
+  "instruction_text": "Walk forward through the kitchen past the stove and the sink. Once you pass the kitchen you will enter the dining room. In the dining room stop next to the first dining chair. ",
+  "num_steps": 32,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) kitchen (C) hallway",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "kitchen",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "porch/terrace/deck",
+          "kitchen",
+          "hallway"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 12,
+        "current_room": "kitchen",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 9,
+    "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 9,
+      "current_room": "kitchen",
+      "landmark_room": "porch/terrace/deck",
+      "final_room": "dining room",
+      "remaining_rooms": [
+        "kitchen",
+        "dining room"
+      ],
+      "all_rooms_in_trajectory": [
+        "dining room",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000309/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 309,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward through the bedroom and past the dresser on the right. Go straight past the chair and take a left and go into the long closet on the left next to the mirror. ', instruction_tokens=[2584, 993, 2418, 2389, 273, 119, 1728, 2389, 797, 1613, 2389, 1968, 15, 1067, 2288, 1728, 2389, 457, 119, 2352, 73, 1360, 119, 1067, 1264, 2389, 1418, 521, 1613, 2389, 1360, 1576, 2438, 2389, 1515, 15])",
+  "instruction_text": "Walk forward through the bedroom and past the dresser on the right. Go straight past the chair and take a left and go into the long closet on the left next to the mirror. ",
+  "num_steps": 32,
+  "total_unique_objects": 600,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 31,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        11
+      ],
+      "metadata": {
+        "probe_object_id": 11,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 21,
+        "num_sightings": 20,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.246199607849121,
+          0.7403411865234375,
+          10.817998886108398
+        ],
+        "agent_position_when_seen": [
+          -8.524698257446289,
+          0.04283595085144043,
+          8.769634246826172
+        ],
+        "pixel_centroid_x": 104.49197860962566,
+        "normalized_position_x": -0.18365641711229952,
+        "object_pixel_count": 187,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 32
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 31,
+      "question": "Along your path, did you see the blinds before or after the sink?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        131
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "blinds",
+        "object_A_timestep": 0,
+        "object_B_id": 131,
+        "object_B_category": "sink",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 131
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) toilet (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "toilet",
+          "hallway"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the column to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        311,
+        591
+      ],
+      "metadata": {
+        "object_A_id": 311,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -11.259499549865723,
+          0.49475693702697754,
+          2.2337799072265625
+        ],
+        "object_B_id": 591,
+        "object_B_category": "column",
+        "object_B_position": [
+          -8.153129577636719,
+          1.782658576965332,
+          11.59119987487793
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -8.55422306060791,
+          0.04283595085144043,
+          8.521384239196777
+        ],
+        "agent_rotation": [
+          -0.9819876551628113,
+          0.0,
+          -0.1889454424381256,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) garage (B) bathroom (C) closet",
+      "answer": "A",
+      "options": [
+        "garage",
+        "bathroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_10",
+          "0_14",
+          "0_16",
+          "0_24",
+          "0_28",
+          "0_29"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "garage",
+          "bathroom",
+          "closet"
+        ],
+        "context_rooms": "dining room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "bedroom",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 12,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) garage (C) kitchen",
+    "answer": "A",
+    "options": [
+      "bedroom",
+      "garage",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "bedroom",
+        "garage",
+        "kitchen"
+      ],
+      "query_timestep_internal": 12,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

train/000317/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 317,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the door in front of the pool and make a slight left to get to the steps at the end of the room. Walk up the steps and wait at the top. ', instruction_tokens=[2584, 2418, 2389, 757, 1237, 1019, 1605, 2389, 1846, 119, 1446, 73, 2162, 1360, 2438, 1046, 2438, 2389, 2265, 178, 2389, 851, 1605, 2389, 1994, 15, 2584, 2527, 2389, 2265, 119, 2579, 178, 2389, 2444, 15])",
+  "instruction_text": "Walk through the door in front of the pool and make a slight left to get to the steps at the end of the room. Walk up the steps and wait at the top. ",
+  "num_steps": 65,
+  "total_unique_objects": 197,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        302
+      ],
+      "metadata": {
+        "probe_object_id": 302,
+        "probe_category": "tv_monitor",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_30",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 39,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          3.1414899826049805,
+          1.3734102249145508,
+          9.721830368041992
+        ],
+        "agent_position_when_seen": [
+          8.194944381713867,
+          0.20572906732559204,
+          8.168521881103516
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+        "pixel_centroid_x": 26.763636363636362,
+        "normalized_position_x": -0.7909090909090909,
+        "object_pixel_count": 110,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 65
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 64,
+      "question": "Along your path, did you see the appliances before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        39
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 39,
+        "object_B_category": "appliances",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 39,
+        "asked_second_object_id": 2
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 27,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) familyroom/lounge (C) outdoor",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "outdoor"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 53,
+      "question": "From your current viewpoint, is the furniture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        38,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 38,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+          3.1260499954223633
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+        "object_B_id": 7,
+        "object_B_category": "furniture",
+        "object_B_position": [
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+          1.8124003410339355,
+          -3.6168198585510254
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+        "spatial_relation": "left",
+        "agent_position": [
+          9.285147666931152,
+          0.026596851646900177,
+          5.914524078369141
+        ],
+        "agent_rotation": [
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+          0.0,
+          0.21472522616386414,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 56,
+      "question": "Based on your exploration and knowledge of the environment, which area is the outdoor you see now directly connected to? (A) familyroom/lounge (B) entryway/foyer/lobby (C) hallway",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_29",
+        "adjacent_rooms": [
+          "0_0",
+          "0_15",
+          "0_16",
+          "0_20",
+          "0_28"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "familyroom/lounge",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "context_rooms": "bedroom, outdoor"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "kitchen",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "living room",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 51,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) hallway (C) kitchen",
+    "answer": "C",
+    "options": [
+      "closet",
+      "hallway",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "closet",
+        "hallway",
+        "kitchen"
+      ],
+      "query_timestep_internal": 51,
+      "rooms_visited": [
+        "familyroom/lounge",
+        "kitchen",
+        "living room",
+        "porch/terrace/deck",
+        "stairs"
+      ]
+    }
+  }
+}

train/000336/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 336,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text=\"Walk past barber's chair. Walk into open door on left. Wait at end of half wall. \", instruction_tokens=[2584, 1728, 219, 9, 2018, 457, 15, 2584, 1264, 1625, 757, 1613, 1360, 15, 2579, 178, 851, 1605, 1118, 2593, 15])",
+  "instruction_text": "Walk past barber's chair. Walk into open door on left. Wait at end of half wall. ",
+  "num_steps": 40,
+  "total_unique_objects": 96,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "question": "Recall your earlier path. When you passed by the table in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        39
+      ],
+      "metadata": {
+        "probe_object_id": 39,
+        "probe_category": "table",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 19,
+        "best_view_timestep": 21,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.597480297088623,
+          0.4111940264701843,
+          0.6065950393676758
+        ],
+        "agent_position_when_seen": [
+          1.0710036754608154,
+          0.09863299131393433,
+          -5.36619758605957
+        ],
+        "pixel_centroid_x": 27.158940397350992,
+        "normalized_position_x": -0.7878207781456954,
+        "object_pixel_count": 151,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 40
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 39,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        132
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 132,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 132,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 1,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) workout/gym/exercise (C) spa/sauna",
+      "answer": "B",
+      "options": [
+        "other room",
+        "workout/gym/exercise",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "other room",
+          "workout/gym/exercise",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "hallway",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the stairs to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        156,
+        36
+      ],
+      "metadata": {
+        "object_A_id": 156,
+        "object_A_category": "picture",
+        "object_A_position": [
+          1.1950700283050537,
+          1.1899001598358154,
+          -1.2448999881744385
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+        "object_B_id": 36,
+        "object_B_category": "stairs",
+        "object_B_position": [
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+          0.45873403549194336,
+          0.522704005241394
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+        "spatial_relation": "right",
+        "agent_position": [
+          3.5731592178344727,
+          0.09863299131393433,
+          -6.368411540985107
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+        "agent_rotation": [
+          -0.44072601199150085,
+          0.0,
+          -0.8976417779922485,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) utilityroom/toolroom (B) bathroom (C) other room",
+      "answer": "C",
+      "options": [
+        "utilityroom/toolroom",
+        "bathroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_13",
+        "all_options": [
+          "utilityroom/toolroom",
+          "bathroom",
+          "other room"
+        ],
+        "context_rooms": "entryway/foyer/lobby, workout/gym/exercise"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "question": "From your current position, will you pass through the utilityroom/toolroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 20,
+        "current_room": "workout/gym/exercise",
+        "landmark_room": "utilityroom/toolroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "workout/gym/exercise"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 39,
+    "question": "Recall your earlier path. When you passed by the table in the spa/sauna, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      7
+    ],
+    "metadata": {
+      "probe_object_id": 7,
+      "probe_category": "table",
+      "probe_room": "spa/sauna",
+      "probe_region_id": "0_0",
+      "first_seen_timestep": 12,
+      "best_view_timestep": 14,
+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
+        0.6292669773101807,
+        1.2149100303649902,
+        -2.2066802978515625
+      ],
+      "agent_position_when_seen": [
+        2.2597947120666504,
+        0.09863299131393433,
+        -5.65305757522583
+      ],
+      "pixel_centroid_x": 30.681528662420384,
+      "normalized_position_x": -0.7603005573248407,
+      "object_pixel_count": 157,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 40
+    }
+  }
+}

train/000338/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 338,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Turn slight right and walk through the hallway door to the bathroom entrance. Stop near the room divider. ', instruction_tokens=[2494, 2162, 1968, 119, 2584, 2418, 2389, 1126, 757, 2438, 2389, 242, 867, 15, 2278, 1563, 2389, 1994, 737, 15])",
+  "instruction_text": "Turn slight right and walk through the hallway door to the bathroom entrance. Stop near the room divider. ",
+  "num_steps": 40,
+  "total_unique_objects": 96,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "question": "Recall your earlier path. When you passed by the objects in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        14
+      ],
+      "metadata": {
+        "probe_object_id": 14,
+        "probe_category": "objects",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 18,
+        "best_view_timestep": 19,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -2.9431400299072266,
+          0.19147801399230957,
+          -3.164220094680786
+        ],
+        "agent_position_when_seen": [
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+          0.09863299131393433,
+          -5.433187484741211
+        ],
+        "pixel_centroid_x": 7.371900826446281,
+        "normalized_position_x": -0.9424070247933884,
+        "object_pixel_count": 121,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 40
+      }
+    },
+    {
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+      "query_timestep": 39,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        132
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 132,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 132,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) spa/sauna (B) entryway/foyer/lobby (C) workout/gym/exercise",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "entryway/foyer/lobby",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "spa/sauna",
+          "entryway/foyer/lobby",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "hallway",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the stairs to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        5,
+        36
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_position": [
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+          0.45873403549194336,
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+        "agent_rotation": [
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) other room (B) entryway/foyer/lobby (C) workout/gym/exercise",
+      "answer": "B",
+      "options": [
+        "other room",
+        "entryway/foyer/lobby",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_12"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "other room",
+          "entryway/foyer/lobby",
+          "workout/gym/exercise"
+        ],
+        "context_rooms": "stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 2,
+      "question": "From your current position, will you pass through the utilityroom/toolroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 2,
+        "current_room": "workout/gym/exercise",
+        "landmark_room": "utilityroom/toolroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "workout/gym/exercise"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 39,
+    "question": "Recall your earlier path. When you passed by the objects in the stairs, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      139
+    ],
+    "metadata": {
+      "probe_object_id": 139,
+      "probe_category": "objects",
+      "probe_room": "stairs",
+      "probe_region_id": "0_10",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 13,
+      "num_sightings": 8,
+      "spatial_relation": "left",
+      "object_position": [
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+        0.20849502086639404,
+        1.8121899366378784
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+      "agent_position_when_seen": [
+        2.45760178565979,
+        0.09863299131393433,
+        -5.805937767028809
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+      "pixel_centroid_x": 10.75257731958763,
+      "normalized_position_x": -0.9159954896907216,
+      "object_pixel_count": 194,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 40
+    }
+  }
+}

train/000346/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 346,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Walk across the room toward the sectional sofa by the windows. Stop at the top of the steps. ', instruction_tokens=[2584, 85, 2389, 1994, 2451, 2389, 2057, 2182, 404, 2389, 2654, 15, 2278, 178, 2389, 2444, 1605, 2389, 2265, 15])",
+  "instruction_text": "Walk across the room toward the sectional sofa by the windows. Stop at the top of the steps. ",
+  "num_steps": 39,
+  "total_unique_objects": 302,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        395
+      ],
+      "metadata": {
+        "probe_object_id": 395,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_22",
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+        "best_view_timestep": 15,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.772209644317627,
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+        "object_pixel_count": 111,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 38,
+      "question": "Along your path, did you see the seating before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        20,
+        85
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+      "metadata": {
+        "object_A_id": 20,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 85,
+        "object_B_category": "seating",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 85,
+        "asked_second_object_id": 20
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) stairs (C) bedroom",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "entryway/foyer/lobby",
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+        "rooms_visited": [
+          "hallway",
+          "stairs"
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+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "question": "From your current viewpoint, is the curtain to the left or right of the cushion?",
+      "answer": "left",
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+        "object_B_position": [
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+    {
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+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the tv you see now directly connected to? (A) porch/terrace/deck (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_15",
+          "0_5"
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+        "correct_answer_room": "0_15",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "hallway"
+        ],
+        "context_rooms": "living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 9,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) balcony (B) entryway/foyer/lobby (C) hallway",
+    "answer": "C",
+    "options": [
+      "balcony",
+      "entryway/foyer/lobby",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_23",
+      "adjacent_rooms": [
+        "1_19",
+        "1_22",
+        "1_25"
+      ],
+      "correct_answer_room": "1_19",
+      "all_options": [
+        "balcony",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "context_rooms": "bedroom, hallway"
+    }
+  }
+}

train/000358/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 358,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the pool, wait at the door to the house. ', instruction_tokens=[2584, 1728, 2389, 1846, 2579, 178, 2389, 757, 2438, 2389, 1213, 15])",
+  "instruction_text": "Walk past the pool, wait at the door to the house. ",
+  "num_steps": 52,
+  "total_unique_objects": 641,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the bathtub in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        613
+      ],
+      "metadata": {
+        "probe_object_id": 613,
+        "probe_category": "bathtub",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_25",
+        "first_seen_timestep": 35,
+        "best_view_timestep": 41,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.014522552490234375,
+          8.80033016204834
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+        "agent_position_when_seen": [
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+        "object_pixel_count": 137,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 52
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 51,
+      "question": "Along your path, did you see the curtain before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
+        6,
+        372
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "curtain",
+        "object_A_timestep": 4,
+        "object_B_id": 372,
+        "object_B_category": "curtain",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 372,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) hallway (C) garage",
+      "answer": "A",
+      "options": [
+        "porch/terrace/deck",
+        "hallway",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "porch/terrace/deck",
+          "hallway",
+          "garage"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 47,
+      "question": "From your current viewpoint, is the sofa to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
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+      "probe_objects": [
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+        415
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+      "metadata": {
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+        "object_A_category": "curtain",
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+          1.8803296089172363,
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+        "object_B_id": 415,
+        "object_B_category": "sofa",
+        "object_B_position": [
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+          0.5035948753356934,
+          1.9936800003051758
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.13468271493911743,
+          7.322402000427246
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+  "primary_query": {
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+    "query_timestep": 51,
+    "question": "Recall your earlier path. When you passed by the bathtub in the porch/terrace/deck, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      613
+    ],
+    "metadata": {
+      "probe_object_id": 613,
+      "probe_category": "bathtub",
+      "probe_room": "porch/terrace/deck",
+      "probe_region_id": "0_25",
+      "first_seen_timestep": 35,
+      "best_view_timestep": 41,
+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
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+        0.014522552490234375,
+        8.80033016204834
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+      "agent_position_when_seen": [
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+        0.04283595085144043,
+        7.813366889953613
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+      "pixel_centroid_x": 49.956204379562045,
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 52
+    }
+  }
+}

train/000372/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 372,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Go forward and turn left at stairs. Go down stairs. At the bottom turn right and go forward 3 steps. Turn left and go towards the door on the right. Stop in front of the door. ', instruction_tokens=[1067, 993, 119, 2494, 1360, 178, 2222, 15, 1067, 780, 2222, 15, 178, 2389, 348, 2494, 1968, 119, 1067, 993, 41, 2265, 15, 2494, 1360, 119, 1067, 2452, 2389, 757, 1613, 2389, 1968, 15, 2278, 1237, 1019, 1605, 2389, 757, 15])",
+  "instruction_text": "Go forward and turn left at stairs. Go down stairs. At the bottom turn right and go forward 3 steps. Turn left and go towards the door on the right. Stop in front of the door. ",
+  "num_steps": 49,
+  "total_unique_objects": 152,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the fireplace in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        426
+      ],
+      "metadata": {
+        "probe_object_id": 426,
+        "probe_category": "fireplace",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_8",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 30,
+        "num_sightings": 7,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.5186100006103516,
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+        "pixel_centroid_x": 37.12918660287081,
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+        "object_pixel_count": 209,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the cushion before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        115,
+        314
+      ],
+      "metadata": {
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+        "object_A_category": "cushion",
+        "object_A_timestep": 0,
+        "object_B_id": 314,
+        "object_B_category": "mirror",
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+        "time_gap": 9,
+        "asked_first_object_id": 115,
+        "asked_second_object_id": 314
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) bedroom (C) closet",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "bedroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "bedroom",
+          "closet"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the cushion to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        116,
+        122
+      ],
+      "metadata": {
+        "object_A_id": 116,
+        "object_A_category": "table",
+        "object_A_position": [
+          0.7110689878463745,
+          3.143819808959961,
+          0.9798791408538818
+        ],
+        "object_B_id": 122,
+        "object_B_category": "cushion",
+        "object_B_position": [
+          2.3517799377441406,
+          3.559040069580078,
+          1.1771297454833984
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.908860206604004,
+          -1.6503409147262573,
+          -4.1503400802612305
+        ],
+        "agent_rotation": [
+          -0.8090934753417969,
+          0.0,
+          -0.587679922580719,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 24,
+      "question": "You are currently in the stairs, and you can see the familyroom/lounge. Based on your understanding of the environment layout, which other area is the stairs directly connected to? (A) lounge (B) closet (C) hallway",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "closet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_1",
+          "0_26"
+        ],
+        "correct_answer_room": "0_26",
+        "all_options": [
+          "lounge",
+          "closet",
+          "hallway"
+        ],
+        "context_rooms": "familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the outdoor on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "stairs",
+        "landmark_room": "outdoor",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 17,
+    "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 17,
+      "current_room": "stairs",
+      "landmark_room": "bedroom",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "stairs",
+        "familyroom/lounge",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "familyroom/lounge",
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "stairs"
+      ]
+    }
+  }
+}

train/000377/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 377,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VVfe2KiqLaN/VVfe2KiqLaN.glb",
+  "instruction": "InstructionData(instruction_text='Enter the door to your left. Turn left into the bedroom. Walk toward the bed. Turn left at the bed. Walk to the edge of the pool and wait. ', instruction_tokens=[860, 2389, 757, 2438, 2706, 1360, 15, 2494, 1360, 1264, 2389, 273, 15, 2584, 2451, 2389, 267, 15, 2494, 1360, 178, 2389, 267, 15, 2584, 2438, 2389, 825, 1605, 2389, 1846, 119, 2579, 15])",
+  "instruction_text": "Enter the door to your left. Turn left into the bedroom. Walk toward the bed. Turn left at the bed. Walk to the edge of the pool and wait. ",
+  "num_steps": 34,
+  "total_unique_objects": 137,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "question": "Recall your earlier path. When you passed by the picture in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        119
+      ],
+      "metadata": {
+        "probe_object_id": 119,
+        "probe_category": "picture",
+        "probe_room": "hallway",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          2.253499984741211,
+          1.3277300596237183,
+          -0.9014979600906372
+        ],
+        "agent_position_when_seen": [
+          1.780299425125122,
+          -0.047693997621536255,
+          2.1479175090789795
+        ],
+        "pixel_centroid_x": 123.4979738856371,
+        "normalized_position_x": -0.0351720790184602,
+        "object_pixel_count": 2221,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 34
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 33,
+      "question": "Along your path, did you see the column before or after the seating?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        265
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "column",
+        "object_A_timestep": 0,
+        "object_B_id": 265,
+        "object_B_category": "seating",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 265
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 4,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) stairs (C) bathroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the picture to the left or right of the beam?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        145,
+        119
+      ],
+      "metadata": {
+        "object_A_id": 145,
+        "object_A_category": "beam",
+        "object_A_position": [
+          3.2724599838256836,
+          2.6996400356292725,
+          4.8620100021362305
+        ],
+        "object_B_id": 119,
+        "object_B_category": "picture",
+        "object_B_position": [
+          2.253499984741211,
+          1.3277300596237183,
+          -0.9014979600906372
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.8849496841430664,
+          -0.047693997621536255,
+          1.656212568283081
+        ],
+        "agent_rotation": [
+          0.9958438277244568,
+          0.0,
+          -0.0910772830247879,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) bathroom (B) bedroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_1",
+          "0_10",
+          "0_11",
+          "0_4"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "stairs"
+        ],
+        "context_rooms": "porch/terrace/deck, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 33,
+    "question": "Along your path, did you see the column before or after the seating?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      4,
+      265
+    ],
+    "metadata": {
+      "object_A_id": 4,
+      "object_A_category": "column",
+      "object_A_timestep": 0,
+      "object_B_id": 265,
+      "object_B_category": "seating",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 4,
+      "asked_second_object_id": 265
+    }
+  }
+}

train/000379/meta.json

@@ -0,0 +1,188 @@
+{
+  "episode_id": 379,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='Walk around the big roped off display and turn left. Go through that entryway and down that hallway. Stop by the other roped off display on your right. ', instruction_tokens=[2584, 159, 2389, 300, 1998, 1606, 733, 119, 2494, 1360, 15, 1067, 2418, 2388, 872, 119, 780, 2388, 1126, 15, 2278, 404, 2389, 1651, 1998, 1606, 733, 1613, 2706, 1968, 15])",
+  "instruction_text": "Walk around the big roped off display and turn left. Go through that entryway and down that hallway. Stop by the other roped off display on your right. ",
+  "num_steps": 78,
+  "total_unique_objects": 500,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the curtain in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        93
+      ],
+      "metadata": {
+        "probe_object_id": 93,
+        "probe_category": "curtain",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_2",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 28,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.0861060619354248,
+          5.986419677734375,
+          14.780899047851562
+        ],
+        "agent_position_when_seen": [
+          -0.7624781131744385,
+          3.038273811340332,
+          8.947063446044922
+        ],
+        "pixel_centroid_x": 203.5531914893617,
+        "normalized_position_x": 0.5902593085106382,
+        "object_pixel_count": 470,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 78
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 77,
+      "question": "Along your path, did you see the mirror before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        227,
+        24
+      ],
+      "metadata": {
+        "object_A_id": 227,
+        "object_A_category": "curtain",
+        "object_A_timestep": 4,
+        "object_B_id": 24,
+        "object_B_category": "mirror",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 24,
+        "asked_second_object_id": 227
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 72,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) junk (B) stairs (C) meetingroom/conferenceroom",
+      "answer": "C",
+      "options": [
+        "junk",
+        "stairs",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "junk",
+          "stairs",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 72,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 72,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) junk (B) hallway (C) meetingroom/conferenceroom",
+      "answer": "B",
+      "options": [
+        "junk",
+        "hallway",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_5"
+        ],
+        "correct_answer_room": "1_5",
+        "all_options": [
+          "junk",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "meetingroom/conferenceroom",
+        "landmark_room": "hallway",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "meetingroom/conferenceroom",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 11,
+    "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 11,
+      "current_room": "meetingroom/conferenceroom",
+      "landmark_room": "entryway/foyer/lobby",
+      "final_room": "meetingroom/conferenceroom",
+      "remaining_rooms": [
+        "meetingroom/conferenceroom",
+        "hallway",
+        "meetingroom/conferenceroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "meetingroom/conferenceroom"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "meetingroom/conferenceroom"
+      ]
+    }
+  }
+}

train/000382/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 382,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JmbYfDe2QKZ/JmbYfDe2QKZ.glb",
+  "instruction": "InstructionData(instruction_text=\"You're in a bathroom, turn to the right and walk through the doorway.  Walk over the carpet and to the colorful stairs.  Walk up a step and then wait. \", instruction_tokens=[2703, 9, 1918, 1237, 73, 242, 2494, 2438, 2389, 1968, 119, 2584, 2418, 2389, 766, 15, 2584, 1669, 2389, 432, 119, 2438, 2389, 540, 2222, 15, 2584, 2527, 73, 2260, 119, 2394, 2579, 15])",
+  "instruction_text": "You're in a bathroom, turn to the right and walk through the doorway.  Walk over the carpet and to the colorful stairs.  Walk up a step and then wait. ",
+  "num_steps": 49,
+  "total_unique_objects": 149,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the table in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        490
+      ],
+      "metadata": {
+        "probe_object_id": 490,
+        "probe_category": "table",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_18",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 11,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.9007601737976074,
+          1.1302199363708496,
+          -0.9947808980941772
+        ],
+        "agent_position_when_seen": [
+          -2.394860029220581,
+          0.07484699785709381,
+          -3.8576300144195557
+        ],
+        "pixel_centroid_x": 117.144578313253,
+        "normalized_position_x": -0.08480798192771088,
+        "object_pixel_count": 1577,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the railing before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        159,
+        459
+      ],
+      "metadata": {
+        "object_A_id": 159,
+        "object_A_category": "railing",
+        "object_A_timestep": 1,
+        "object_B_id": 459,
+        "object_B_category": "picture",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 159,
+        "asked_second_object_id": 459
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 10,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) bathroom (C) lounge",
+      "answer": "B",
+      "options": [
+        "living room",
+        "bathroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "living room",
+          "bathroom",
+          "lounge"
+        ],
+        "query_timestep_internal": 10,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 5,
+      "question": "From your current viewpoint, is the railing to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
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+}

train/000387/meta.json

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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
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+      "answer": "right",
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train/000443/meta.json

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+{
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+}

train/000456/meta.json

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+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
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+          "hallway",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 11,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        578,
+        547
+      ],
+      "metadata": {
+        "object_A_id": 578,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -6.939899921417236,
+          0.24338985979557037,
+          1.66677987575531
+        ],
+        "object_B_id": 547,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -5.839179992675781,
+          0.49139678478240967,
+          1.9926400184631348
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -8.757378578186035,
+          0.13467612862586975,
+          -1.1587488651275635
+        ],
+        "agent_rotation": [
+          -0.7118983268737793,
+          0.0,
+          0.7022825479507446,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 55,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) other room (B) bedroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "other room",
+        "bedroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_21",
+        "adjacent_rooms": [
+          "1_10",
+          "1_11",
+          "1_13",
+          "1_14",
+          "1_15",
+          "1_16",
+          "1_22",
+          "1_23",
+          "1_26",
+          "1_8",
+          "1_9"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "other room",
+          "bedroom",
+          "stairs"
+        ],
+        "context_rooms": "bedroom, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 53,
+      "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 53,
+        "current_room": "living room",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "living room",
+          "hallway",
+          "closet",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "closet",
+          "dining room",
+          "hallway",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 107,
+    "question": "Recall your earlier path. When you passed by the mirror in the bathroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      171
+    ],
+    "metadata": {
+      "probe_object_id": 171,
+      "probe_category": "mirror",
+      "probe_room": "bathroom",
+      "probe_region_id": "1_8",
+      "first_seen_timestep": 94,
+      "best_view_timestep": 97,
+      "num_sightings": 8,
+      "spatial_relation": "right",
+      "object_position": [
+        9.636280059814453,
+        1.6084299087524414,
+        1.3246302604675293
+      ],
+      "agent_position_when_seen": [
+        7.386767387390137,
+        0.21126818656921387,
+        -1.6621692180633545
+      ],
+      "pixel_centroid_x": 219.55873925501433,
+      "normalized_position_x": 0.7153026504297995,
+      "object_pixel_count": 349,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 108
+    }
+  }
+}