Add files using upload-large-folder tool

train/000022/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 22,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, head straight, turn right at the wall, then turn right again and stop in the doorway by the table. ', instruction_tokens=[888, 2389, 242, 1162, 2288, 2494, 1968, 178, 2389, 2593, 2394, 2494, 1968, 95, 119, 2278, 1237, 2389, 766, 404, 2389, 2342, 15])",
+  "instruction_text": "Exit the bathroom, head straight, turn right at the wall, then turn right again and stop in the doorway by the table. ",
+  "num_steps": 50,
+  "total_unique_objects": 154,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the mirror in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        433
+      ],
+      "metadata": {
+        "probe_object_id": 433,
+        "probe_category": "mirror",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 15,
+        "best_view_timestep": 15,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.8515000343322754,
+          0.9877080917358398,
+          -4.740890026092529
+        ],
+        "agent_position_when_seen": [
+          -8.640926361083984,
+          -0.3697805404663086,
+          -8.41928768157959
+        ],
+        "pixel_centroid_x": 24.96330275229358,
+        "normalized_position_x": -0.8049741972477065,
+        "object_pixel_count": 109,
+        "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 chair before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        351,
+        325
+      ],
+      "metadata": {
+        "object_A_id": 351,
+        "object_A_category": "shower",
+        "object_A_timestep": 7,
+        "object_B_id": 325,
+        "object_B_category": "chair",
+        "object_B_timestep": 13,
+        "time_gap": 6,
+        "asked_first_object_id": 325,
+        "asked_second_object_id": 351
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "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": 29,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the chest_of_drawers to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        334,
+        331
+      ],
+      "metadata": {
+        "object_A_id": 334,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -5.416629791259766,
+          -0.029283523559570312,
+          -5.016139984130859
+        ],
+        "object_B_id": 331,
+        "object_B_category": "chest_of_drawers",
+        "object_B_position": [
+          -3.9822096824645996,
+          -0.2074752002954483,
+          -6.8484601974487305
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -8.640926361083984,
+          -0.3697805404663086,
+          -8.41928768157959
+        ],
+        "agent_rotation": [
+          -0.031584233045578,
+          0.0,
+          0.9995011687278748,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "You are currently in the bathroom, and you can see the hallway, bedroom. Based on your understanding of the environment layout, which other area is the bathroom directly connected to? (A) familyroom/lounge (B) office (C) balcony",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "office",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_11",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "familyroom/lounge",
+          "office",
+          "balcony"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "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": 14,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "office",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 48,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) office (C) bedroom",
+    "answer": "B",
+    "options": [
+      "balcony",
+      "office",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "office",
+      "all_options": [
+        "balcony",
+        "office",
+        "bedroom"
+      ],
+      "query_timestep_internal": 48,
+      "rooms_visited": [
+        "bathroom",
+        "hallway",
+        "office"
+      ]
+    }
+  }
+}

train/000053/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 53,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the living room through the wood and glass doors and take a right in the hallway down the hallway on the right and go into the den through the open door and stop right past the light switches. ', instruction_tokens=[2584, 1658, 1605, 2389, 1404, 1994, 2418, 2389, 2668, 119, 1057, 762, 119, 2352, 73, 1968, 1237, 2389, 1126, 780, 2389, 1126, 1613, 2389, 1968, 119, 1067, 1264, 2389, 687, 2418, 2389, 1625, 757, 119, 2278, 1968, 1728, 2389, 1378, 2335, 15])",
+  "instruction_text": "Walk out of the living room through the wood and glass doors and take a right in the hallway down the hallway on the right and go into the den through the open door and stop right past the light switches. ",
+  "num_steps": 53,
+  "total_unique_objects": 259,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 52,
+      "question": "Recall your earlier path. When you passed by the stool in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        369
+      ],
+      "metadata": {
+        "probe_object_id": 369,
+        "probe_category": "stool",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_18",
+        "first_seen_timestep": 32,
+        "best_view_timestep": 33,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          8.931859970092773,
+          0.2275066375732422,
+          5.860079288482666
+        ],
+        "agent_position_when_seen": [
+          3.7265377044677734,
+          0.09358400106430054,
+          0.9596939086914062
+        ],
+        "pixel_centroid_x": 156.75,
+        "normalized_position_x": 0.224609375,
+        "object_pixel_count": 112,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 53
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 52,
+      "question": "Along your path, did you see the chair before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        130,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 130,
+        "object_A_category": "chair",
+        "object_A_timestep": 4,
+        "object_B_id": 83,
+        "object_B_category": "shelving",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 130,
+        "asked_second_object_id": 83
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 44,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) dining room (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "dining room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "dining room",
+          "hallway"
+        ],
+        "query_timestep_internal": 44,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the shelving to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        330,
+        272
+      ],
+      "metadata": {
+        "object_A_id": 330,
+        "object_A_category": "picture",
+        "object_A_position": [
+          3.7903599739074707,
+          1.5799400806427002,
+          -0.7419688105583191
+        ],
+        "object_B_id": 272,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          4.379509925842285,
+          1.223059892654419,
+          3.8217997550964355
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          2.111569881439209,
+          0.09358400106430054,
+          1.6011059284210205
+        ],
+        "agent_rotation": [
+          -0.845337986946106,
+          0.0,
+          0.5342318415641785,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 44,
+      "question": "You are currently in the hallway, and you can see the closet, hallway. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) bedroom (B) office (C) toilet",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "office",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_14",
+          "0_16",
+          "0_18",
+          "0_19",
+          "0_2",
+          "0_3",
+          "0_5",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bedroom",
+          "office",
+          "toilet"
+        ],
+        "context_rooms": "closet, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "hallway",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 14,
+    "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) living room (B) toilet (C) hallway",
+    "answer": "C",
+    "options": [
+      "living room",
+      "toilet",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_5",
+      "adjacent_rooms": [
+        "0_0",
+        "0_17",
+        "0_18",
+        "0_19",
+        "0_6"
+      ],
+      "correct_answer_room": "0_17",
+      "all_options": [
+        "living room",
+        "toilet",
+        "hallway"
+      ],
+      "context_rooms": "bedroom, familyroom/lounge"
+    }
+  }
+}

train/000062/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 62,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and go up the stairs. Stop at the top. ', instruction_tokens=[2494, 159, 119, 1067, 2527, 2389, 2222, 15, 2278, 178, 2389, 2444, 15])",
+  "instruction_text": "Turn around and go up the stairs. Stop at the top. ",
+  "num_steps": 54,
+  "total_unique_objects": 99,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the counter in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        453
+      ],
+      "metadata": {
+        "probe_object_id": 453,
+        "probe_category": "counter",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_10",
+        "first_seen_timestep": 38,
+        "best_view_timestep": 41,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          3.043610095977783,
+          3.343550205230713,
+          -3.5787100791931152
+        ],
+        "agent_position_when_seen": [
+          -1.676224946975708,
+          1.6338047981262207,
+          -3.99904203414917
+        ],
+        "pixel_centroid_x": 127.85039370078741,
+        "normalized_position_x": -0.0011687992125983815,
+        "object_pixel_count": 254,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the stairs before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        320,
+        324
+      ],
+      "metadata": {
+        "object_A_id": 320,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 324,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 320,
+        "asked_second_object_id": 324
+      }
+    },
+    {
+      "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) porch/terrace/deck (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 12,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) porch/terrace/deck (B) living room (C) balcony",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "living room",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "3_28",
+        "adjacent_rooms": [
+          "3_21",
+          "3_24",
+          "3_8"
+        ],
+        "correct_answer_room": "3_21",
+        "all_options": [
+          "porch/terrace/deck",
+          "living room",
+          "balcony"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 34,
+    "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) bedroom (B) hallway (C) entryway/foyer/lobby",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "hallway",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "3_23",
+      "adjacent_rooms": [
+        "3_22",
+        "3_24"
+      ],
+      "correct_answer_room": "3_24",
+      "all_options": [
+        "bedroom",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "context_rooms": "dining room"
+    }
+  }
+}

train/000068/meta.json

@@ -0,0 +1,200 @@
+{
+  "episode_id": 68,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the kitchen. Go past the sink and stove stand in front of the dining table on the bench side. ', instruction_tokens=[2584, 2418, 2389, 1306, 15, 1067, 1728, 2389, 2132, 119, 2284, 2235, 1237, 1019, 1605, 2389, 711, 2342, 1613, 2389, 290, 2121, 15])",
+  "instruction_text": "Walk through the kitchen. Go past the sink and stove stand in front of the dining table on the bench side. ",
+  "num_steps": 40,
+  "total_unique_objects": 250,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "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": [
+        84
+      ],
+      "metadata": {
+        "probe_object_id": 84,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 0,
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the shelving in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        344
+      ],
+      "metadata": {
+        "probe_object_id": 344,
+        "probe_category": "shelving",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 17,
+        "best_view_timestep": 17,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+        "agent_position_when_seen": [
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+          -0.8283994793891907
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+        "pixel_centroid_x": 23.961904761904762,
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+        "object_pixel_count": 105,
+        "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 lighting before or after the objects?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        361
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 361,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 361,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "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) dining room (B) stairs (C) bathroom",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "stairs",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "dining room",
+          "stairs",
+          "bathroom"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the  to the left or right of the mirror?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        308,
+        26
+      ],
+      "metadata": {
+        "object_A_id": 308,
+        "object_A_category": "mirror",
+        "object_A_position": [
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+        "object_B_category": "",
+        "object_B_position": [
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+          0.0,
+          0.4967140555381775,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 49,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the hallway, entryway/foyer/lobby. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) kitchen (B) porch/terrace/deck (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_1",
+          "0_10",
+          "0_12",
+          "0_3",
+          "0_4",
+          "0_5",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "kitchen",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "context_rooms": "hallway, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "bathroom",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 51,
+    "question": "Recall your earlier path. When you passed by the beam in the entryway/foyer/lobby, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      5
+    ],
+    "metadata": {
+      "probe_object_id": 5,
+      "probe_category": "beam",
+      "probe_room": "entryway/foyer/lobby",
+      "probe_region_id": "0_0",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        -25.674400329589844,
+        1.50754976272583,
+        -3.7193899154663086
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+      "agent_position_when_seen": [
+        -14.36620044708252,
+        0.07537198066711426,
+        -0.8151339888572693
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+      "pixel_centroid_x": 16.721854304635762,
+      "normalized_position_x": -0.869360513245033,
+      "object_pixel_count": 151,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 52
+    }
+  }
+}

train/000241/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 241,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk through the room with the woven chairs. Walk up the two steps and turn left through the open doors. Walk through the hallway and stop before the window with white shade that is drawn down. ', instruction_tokens=[2494, 159, 119, 2584, 2418, 2389, 1994, 2661, 2389, 2687, 458, 15, 2584, 2527, 2389, 2509, 2265, 119, 2494, 1360, 2418, 2389, 1625, 762, 15, 2584, 2418, 2389, 1126, 119, 2278, 281, 2389, 2652, 2661, 2637, 2083, 2388, 1267, 794, 780, 15])",
+  "instruction_text": "Turn around and walk through the room with the woven chairs. Walk up the two steps and turn left through the open doors. Walk through the hallway and stop before the window with white shade that is drawn down. ",
+  "num_steps": 50,
+  "total_unique_objects": 276,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the bathtub in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        239
+      ],
+      "metadata": {
+        "probe_object_id": 239,
+        "probe_category": "bathtub",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 12,
+        "best_view_timestep": 14,
+        "num_sightings": 11,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.09262657165527344,
+          -9.1527099609375
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+        "agent_position_when_seen": [
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+          -0.1436849981546402,
+          -17.742780685424805
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+        "pixel_centroid_x": 248.44910179640718,
+        "normalized_position_x": 0.9410086077844311,
+        "object_pixel_count": 167,
+        "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 mirror before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        60,
+        128
+      ],
+      "metadata": {
+        "object_A_id": 60,
+        "object_A_category": "mirror",
+        "object_A_timestep": 0,
+        "object_B_id": 128,
+        "object_B_category": "",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 60,
+        "asked_second_object_id": 128
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) living room (C) bedroom",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "porch/terrace/deck",
+          "living room",
+          "bedroom"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 31,
+      "question": "From your current viewpoint, is the bed to the left or right of the shower?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        245,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 245,
+        "object_A_category": "shower",
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+          1.4716401100158691
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.1436849981546402,
+          -14.546375274658203
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+          -0.9923350811004639,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) living room (B) toilet (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_16"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "living room",
+          "toilet",
+          "hallway"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "living room",
+        "landmark_room": "dining room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "living room",
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 49,
+    "question": "Recall your earlier path. When you passed by the furniture in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      93
+    ],
+    "metadata": {
+      "probe_object_id": 93,
+      "probe_category": "furniture",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_6",
+      "first_seen_timestep": 40,
+      "best_view_timestep": 41,
+      "num_sightings": 2,
+      "spatial_relation": "right",
+      "object_position": [
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+        0.49056804180145264,
+        1.987950086593628
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+      "agent_position_when_seen": [
+        5.95566463470459,
+        0.05631500482559204,
+        -12.631584167480469
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+      "pixel_centroid_x": 216.59649122807016,
+      "normalized_position_x": 0.6921600877192982,
+      "object_pixel_count": 171,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 50
+    }
+  }
+}

train/000251/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 251,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/8WUmhLawc2A/8WUmhLawc2A.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and go past the bar and then turn slightly right, past the brown chair.  Continue down the hall.  When you get the bedroom, you stop right before walking into it. ', instruction_tokens=[2494, 159, 119, 1067, 1728, 2389, 217, 119, 2394, 2494, 2164, 1968, 1728, 2389, 374, 457, 15, 569, 780, 2389, 1121, 15, 2632, 2703, 1046, 2389, 273, 2703, 2278, 1968, 281, 2588, 1264, 1272, 15])",
+  "instruction_text": "Turn around and go past the bar and then turn slightly right, past the brown chair.  Continue down the hall.  When you get the bedroom, you stop right before walking into it. ",
+  "num_steps": 65,
+  "total_unique_objects": 137,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 64,
+      "question": "Recall your earlier path. When you passed by the seating in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        27
+      ],
+      "metadata": {
+        "probe_object_id": 27,
+        "probe_category": "seating",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 21,
+        "num_sightings": 6,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.17807507514953613,
+          3.8162198066711426
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+        "agent_position_when_seen": [
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+          0.10065700113773346,
+          -4.144049167633057
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+        "pixel_centroid_x": 243.00537634408602,
+        "normalized_position_x": 0.898479502688172,
+        "object_pixel_count": 558,
+        "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 bed before or after the tv_monitor?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        75,
+        89
+      ],
+      "metadata": {
+        "object_A_id": 75,
+        "object_A_category": "bed",
+        "object_A_timestep": 4,
+        "object_B_id": 89,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 13,
+        "time_gap": 9,
+        "asked_first_object_id": 75,
+        "asked_second_object_id": 89
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 33,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) laundryroom/mudroom (C) living room",
+      "answer": "C",
+      "options": [
+        "office",
+        "laundryroom/mudroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "office",
+          "laundryroom/mudroom",
+          "living room"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 39,
+      "question": "From your current viewpoint, is the objects to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        587,
+        28
+      ],
+      "metadata": {
+        "object_A_id": 587,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -4.384089946746826,
+          1.6049199104309082,
+          2.4705400466918945
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+        "object_B_id": 28,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -5.847549915313721,
+          0.531362771987915,
+          2.677719831466675
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.675859451293945,
+          0.10065700113773346,
+          -2.4208993911743164
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+        "agent_rotation": [
+          -0.22533683478832245,
+          0.0,
+          0.9742809534072876,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 29,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) living room (B) tv (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "tv",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_16",
+          "0_4"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "living room",
+          "tv",
+          "hallway"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "kitchen",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 39,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) tv (B) bedroom (C) living room",
+    "answer": "B",
+    "options": [
+      "tv",
+      "bedroom",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_11",
+      "adjacent_rooms": [
+        "0_10",
+        "0_14",
+        "0_16",
+        "0_2"
+      ],
+      "correct_answer_room": "0_2",
+      "all_options": [
+        "tv",
+        "bedroom",
+        "living room"
+      ],
+      "context_rooms": "dining room, office"
+    }
+  }
+}

train/000257/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 257,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Proceed up the staircase\\r\\nOnce at the top walk towards the double glass doors on your right and stop in front of them. ', instruction_tokens=[1878, 2527, 2389, 2220, 1615, 178, 2389, 2444, 2584, 2452, 2389, 775, 1057, 762, 1613, 2706, 1968, 119, 2278, 1237, 1019, 1605, 2393, 15])",
+  "instruction_text": "Proceed up the staircase\r\nOnce at the top walk towards the double glass doors on your right and stop in front of them. ",
+  "num_steps": 40,
+  "total_unique_objects": 79,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "question": "Recall your earlier path. When you passed by the shelving in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        445
+      ],
+      "metadata": {
+        "probe_object_id": 445,
+        "probe_category": "shelving",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_21",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 14,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
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+          6.131690502166748
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+        "agent_position_when_seen": [
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+          2.439424514770508,
+          -3.502122163772583
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+        "pixel_centroid_x": 225.437890625,
+        "normalized_position_x": 0.7612335205078125,
+        "object_pixel_count": 2560,
+        "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 plant before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        158,
+        32
+      ],
+      "metadata": {
+        "object_A_id": 158,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 32,
+        "object_B_category": "",
+        "object_B_timestep": 14,
+        "time_gap": 14,
+        "asked_first_object_id": 158,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 39,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) hallway (C) closet",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "hallway",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "hallway",
+          "closet"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 28,
+      "question": "From your current viewpoint, is the objects to the left or right of the ?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        32,
+        510
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_position": [
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+          1.8781509399414062,
+          -10.746498107910156
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+        "object_B_id": 510,
+        "object_B_category": "objects",
+        "object_B_position": [
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+          4.744760036468506,
+          2.160569667816162
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+        "spatial_relation": "left",
+        "agent_position": [
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+          4.082358360290527,
+          -5.719122886657715
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+        "agent_rotation": [
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+          -0.46416348218917847,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) kitchen (B) bathroom (C) lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_10",
+          "1_11",
+          "1_13",
+          "1_19",
+          "1_20",
+          "1_36",
+          "1_6",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_20",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "lounge"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "stairs",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 39,
+    "question": "Recall your earlier path. When you passed by the plant in the dining room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      158
+    ],
+    "metadata": {
+      "probe_object_id": 158,
+      "probe_category": "plant",
+      "probe_room": "dining room",
+      "probe_region_id": "1_8",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 5,
+      "spatial_relation": "left",
+      "object_position": [
+        -9.881230354309082,
+        1.2659099102020264,
+        3.4096598625183105
+      ],
+      "agent_position_when_seen": [
+        -8.809000015258789,
+        1.5830371379852295,
+        -2.036710023880005
+      ],
+      "pixel_centroid_x": 74.98218085106383,
+      "normalized_position_x": -0.4142017121010638,
+      "object_pixel_count": 11280,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 40
+    }
+  }
+}

train/000261/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 261,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Turn around, walk down the hall and turn left to go into the bedroom.  Walk through the bedroom, into the bathroom, and then stop right by the mirror. ', instruction_tokens=[2494, 159, 2584, 780, 2389, 1121, 119, 2494, 1360, 2438, 1067, 1264, 2389, 273, 15, 2584, 2418, 2389, 273, 1264, 2389, 242, 119, 2394, 2278, 1968, 404, 2389, 1515, 15])",
+  "instruction_text": "Turn around, walk down the hall and turn left to go into the bedroom.  Walk through the bedroom, into the bathroom, and then stop right by the mirror. ",
+  "num_steps": 93,
+  "total_unique_objects": 132,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 92,
+      "question": "Recall your earlier path. When you passed by the objects in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        48
+      ],
+      "metadata": {
+        "probe_object_id": 48,
+        "probe_category": "objects",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 24,
+        "best_view_timestep": 24,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.6611504554748535,
+          -4.41426944732666
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+        "agent_position_when_seen": [
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+          0.05631500482559204,
+          -5.650134563446045
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+        "pixel_centroid_x": 83.31132075471699,
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+        "object_pixel_count": 106,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 93
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 92,
+      "question": "Along your path, did you see the bed before or after the bathtub?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        66,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 66,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 0,
+        "object_B_id": 11,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 66
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 19,
+      "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": 19,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 65,
+      "question": "From your current viewpoint, is the bed to the left or right of the chest_of_drawers?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        29,
+        25
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
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+          1.4347200393676758
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+        "object_B_id": 25,
+        "object_B_category": "bed",
+        "object_B_position": [
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+          0.36473000049591064,
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -1.7436516284942627
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+        "agent_rotation": [
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the toilet you see now directly connected to? (A) hallway (B) bedroom (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "bedroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "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": 11,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 65,
+    "question": "From your current viewpoint, is the bed to the left or right of the chest_of_drawers?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      29,
+      25
+    ],
+    "metadata": {
+      "object_A_id": 29,
+      "object_A_category": "chest_of_drawers",
+      "object_A_position": [
+        -0.4366289973258972,
+        0.4359920024871826,
+        1.4347200393676758
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+      "object_B_id": 25,
+      "object_B_category": "bed",
+      "object_B_position": [
+        -0.7223569750785828,
+        0.36473000049591064,
+        1.4476499557495117
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+      "spatial_relation": "right",
+      "agent_position": [
+        0.10463114082813263,
+        0.05631500482559204,
+        -1.7436516284942627
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+      "agent_rotation": [
+        0.01689266972243786,
+        0.0,
+        -0.9998573064804077,
+        0.0
+      ]
+    }
+  }
+}

train/000265/meta.json

@@ -0,0 +1,156 @@
+{
+  "episode_id": 265,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward with the fireplace on your left. Go over the velvet rope and walk towards the ornate doors. Stop at the doors with the fireplace poker on your left. ', instruction_tokens=[2584, 993, 2661, 2389, 942, 1613, 2706, 1360, 15, 1067, 1669, 2389, 2555, 1997, 119, 2584, 2452, 2389, 1648, 762, 15, 2278, 178, 2389, 762, 2661, 2389, 942, 1838, 1613, 2706, 1360, 15])",
+  "instruction_text": "Walk forward with the fireplace on your left. Go over the velvet rope and walk towards the ornate doors. Stop at the doors with the fireplace poker on your left. ",
+  "num_steps": 64,
+  "total_unique_objects": 420,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        227
+      ],
+      "metadata": {
+        "probe_object_id": 227,
+        "probe_category": "curtain",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
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+        "spatial_relation": "left",
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+          -0.8189840316772461,
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+        "pixel_centroid_x": 22.901639344262296,
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+        "object_pixel_count": 122,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 25,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) meetingroom/conferenceroom (B) junk (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "meetingroom/conferenceroom",
+        "junk",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "junk",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 25,
+        "rooms_visited": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the curtain to the left or right of the railing?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+        330
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+      "metadata": {
+        "object_A_id": 562,
+        "object_A_category": "railing",
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+        "object_B_category": "curtain",
+        "object_B_position": [
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+        "spatial_relation": "right",
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+          -0.16177518665790558,
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+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 63,
+    "question": "Recall your earlier path. When you passed by the cabinet in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
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+    ],
+    "metadata": {
+      "probe_object_id": 358,
+      "probe_category": "cabinet",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "0_8",
+      "first_seen_timestep": 3,
+      "best_view_timestep": 3,
+      "num_sightings": 2,
+      "spatial_relation": "left",
+      "object_position": [
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+        -1.8977594375610352,
+        8.453530311584473
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+      "agent_position_when_seen": [
+        4.648910045623779,
+        -3.043480634689331,
+        10.90149974822998
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+      "pixel_centroid_x": 133.5677966101695,
+      "normalized_position_x": 0.04349841101694918,
+      "object_pixel_count": 118,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 64
+    }
+  }
+}

train/000271/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 271,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and go straight until you pass the bed on the right, turn right past the ottoman. keep straight until you are near the dresser, then turn right and go towards the door on your far right, enter the door and stop where the shower stall is on your left. ', instruction_tokens=[2494, 1360, 119, 1067, 2288, 2524, 2703, 1721, 2389, 267, 1613, 2389, 1968, 2494, 1968, 1728, 2389, 1653, 15, 1295, 2288, 2524, 2703, 149, 1563, 2389, 797, 2394, 2494, 1968, 119, 1067, 2452, 2389, 757, 1613, 2706, 914, 1968, 860, 2389, 757, 119, 2278, 2633, 2389, 2110, 2230, 1267, 1613, 2706, 1360, 15])",
+  "instruction_text": "Turn left and go straight until you pass the bed on the right, turn right past the ottoman. keep straight until you are near the dresser, then turn right and go towards the door on your far right, enter the door and stop where the shower stall is on your left. ",
+  "num_steps": 66,
+  "total_unique_objects": 394,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the shelving in the dining room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        591
+      ],
+      "metadata": {
+        "probe_object_id": 591,
+        "probe_category": "shelving",
+        "probe_room": "dining room",
+        "probe_region_id": "0_16",
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+        "best_view_timestep": 34,
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+          1.0704398155212402,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
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+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        318
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 2,
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+        "object_B_category": "picture",
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+        "time_gap": 3,
+        "asked_first_object_id": 92,
+        "asked_second_object_id": 318
+      }
+    },
+    {
+      "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) lounge (C) bedroom",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "lounge",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "porch/terrace/deck",
+          "lounge",
+          "bedroom"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "bedroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        332,
+        316
+      ],
+      "metadata": {
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+        "object_A_category": "table",
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+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 31,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) office (C) bedroom",
+    "answer": "C",
+    "options": [
+      "entryway/foyer/lobby",
+      "office",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "office",
+        "bedroom"
+      ],
+      "query_timestep_internal": 31,
+      "rooms_visited": [
+        "bedroom"
+      ]
+    }
+  }
+}

train/000296/meta.json

@@ -0,0 +1,95 @@
+{
+  "episode_id": 296,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight and wait by the dining room table. ', instruction_tokens=[2584, 2288, 119, 2579, 404, 2389, 711, 1994, 2342, 15])",
+  "instruction_text": "Walk straight and wait by the dining room table. ",
+  "num_steps": 32,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) bathroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "living room",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "living room",
+          "bathroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 12,
+        "current_room": "kitchen",
+        "landmark_room": "familyroom/lounge",
+        "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": 2,
+    "question": "From your current position, will you pass through the living room on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 2,
+      "current_room": "kitchen",
+      "landmark_room": "living room",
+      "final_room": "dining room",
+      "remaining_rooms": [
+        "kitchen",
+        "dining room"
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+      "all_rooms_in_trajectory": [
+        "dining room",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000316/meta.json

@@ -0,0 +1,206 @@
+{
+  "episode_id": 316,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='go through door, turn left, enter bathroom,. ', instruction_tokens=[1067, 2418, 757, 2494, 1360, 860, 242, 15])",
+  "instruction_text": "go through door, turn left, enter bathroom,. ",
+  "num_steps": 31,
+  "total_unique_objects": 29,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 30,
+      "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": [
+        6
+      ],
+      "metadata": {
+        "probe_object_id": 6,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_0",
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+        "num_sightings": 21,
+        "spatial_relation": "left",
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 31
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 30,
+      "question": "Along your path, did you see the lighting before or after the chest_of_drawers?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chest_of_drawers",
+        "object_A_timestep": 0,
+        "object_B_id": 70,
+        "object_B_category": "lighting",
+        "object_B_timestep": 21,
+        "time_gap": 21,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) other room",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "bedroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "kitchen",
+          "bedroom",
+          "other room"
+        ],
+        "query_timestep_internal": 12,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 28,
+      "question": "From your current viewpoint, is the table in front of or behind the picture?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        78,
+        77
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+      "metadata": {
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+        "object_A_category": "picture",
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+        "object_B_category": "table",
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+        "spatial_relation": "behind",
+        "agent_position": [
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+          -0.2089579850435257,
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+    },
+    {
+      "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": "other room",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "other room",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 13,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) hallway (C) living room",
+    "answer": "B",
+    "options": [
+      "bathroom",
+      "hallway",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_0",
+      "adjacent_rooms": [
+        "1_1",
+        "1_13",
+        "1_3"
+      ],
+      "correct_answer_room": "1_13",
+      "all_options": [
+        "bathroom",
+        "hallway",
+        "living room"
+      ],
+      "context_rooms": "other room, closet"
+    }
+  }
+}

train/000322/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 322,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7G3Y4RVNrH/D7G3Y4RVNrH.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk towards the leftmost and farthest red chair in the room and wait there. ', instruction_tokens=[2494, 159, 119, 2584, 2452, 2389, 1363, 119, 917, 1939, 457, 1237, 2389, 1994, 119, 2579, 2395, 15])",
+  "instruction_text": "Turn around and walk towards the leftmost and farthest red chair in the room and wait there. ",
+  "num_steps": 27,
+  "total_unique_objects": 30,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 26,
+      "question": "Recall your earlier path. When you passed by the seating in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        13
+      ],
+      "metadata": {
+        "probe_object_id": 13,
+        "probe_category": "seating",
+        "probe_room": "hallway",
+        "probe_region_id": "2_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 27
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 26,
+      "question": "Along your path, did you see the chair before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        42
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+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chair",
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+        "time_gap": 6,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 42
+      }
+    },
+    {
+      "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) library (B) hallway (C) stairs",
+      "answer": "A",
+      "options": [
+        "library",
+        "hallway",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "library",
+        "all_options": [
+          "library",
+          "hallway",
+          "stairs"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "library"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the stool to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        59,
+        79
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+      "metadata": {
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+    "query_timestep": 18,
+    "question": "From your current viewpoint, is the chair to the left or right of the stool?",
+    "answer": "right",
+    "options": [
+      "left",
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+    "probe_objects": [
+      79,
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+}

train/000351/data.npz

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+size 23259958

train/000356/meta.json

@@ -0,0 +1,154 @@
+{
+  "episode_id": 356,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight down the hallway toward the windows at the far end. Walk past the office labeled enerskin. Stop near the EXIT sign on the upper right. ', instruction_tokens=[2584, 2288, 780, 2389, 1126, 2451, 2389, 2654, 178, 2389, 914, 851, 15, 2584, 1728, 2389, 1607, 1318, 857, 15, 2278, 1563, 2389, 888, 2125, 1613, 2389, 2531, 1968, 15])",
+  "instruction_text": "Walk straight down the hallway toward the windows at the far end. Walk past the office labeled enerskin. Stop near the EXIT sign on the upper right. ",
+  "num_steps": 55,
+  "total_unique_objects": 882,
+  "mindcraft_queries": [
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train/000359/meta.json

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train/000375/meta.json

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train/000393/meta.json

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+      "query_timestep": 27,
+      "question": "From your current viewpoint, is the column to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        407,
+        591
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+      "metadata": {
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+        "object_A_category": "curtain",
+        "object_A_position": [
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+        "object_B_category": "column",
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+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "question": "Based on your exploration and knowledge of the environment, which area is the outdoor you see now directly connected to? (A) garage (B) familyroom/lounge (C) bathroom",
+      "answer": "A",
+      "options": [
+        "garage",
+        "familyroom/lounge",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_29",
+        "adjacent_rooms": [
+          "0_10",
+          "0_14",
+          "0_16",
+          "0_18",
+          "0_24",
+          "0_28",
+          "0_4"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "garage",
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "context_rooms": "dining room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "other room",
+        "landmark_room": "bathroom",
+        "final_room": "other room",
+        "remaining_rooms": [
+          "other room",
+          "bathroom",
+          "hallway",
+          "other room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "other room",
+          "toilet"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "toilet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 29,
+    "question": "From your current viewpoint, is the curtain to the left or right of the column?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      591,
+      407
+    ],
+    "metadata": {
+      "object_A_id": 591,
+      "object_A_category": "column",
+      "object_A_position": [
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+        11.59119987487793
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+      "object_B_id": 407,
+      "object_B_category": "curtain",
+      "object_B_position": [
+        2.716639995574951,
+        1.8803296089172363,
+        1.9875901937484741
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+      "spatial_relation": "right",
+      "agent_position": [
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+        0.04283595085144043,
+        7.398592948913574
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+      "agent_rotation": [
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+        -0.6412206888198853,
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+    }
+  }
+}

train/000405/meta.json

@@ -0,0 +1,145 @@
+{
+  "episode_id": 405,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='leave room and turn left. walk down hall, turn slight right at wooden/glass door. Turn right and enter room with three desks and chairs. stop. ', instruction_tokens=[1355, 1994, 119, 2494, 1360, 15, 2584, 780, 1121, 2494, 2162, 1968, 178, 2672, 22, 1057, 757, 15, 2494, 1968, 119, 860, 1994, 2661, 2415, 693, 119, 458, 15, 2278, 15])",
+  "instruction_text": "leave room and turn left. walk down hall, turn slight right at wooden/glass door. Turn right and enter room with three desks and chairs. stop. ",
+  "num_steps": 66,
+  "total_unique_objects": 1439,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the  before or after the lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        31,
+        190
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+      "metadata": {
+        "object_A_id": 31,
+        "object_A_category": "",
+        "object_A_timestep": 4,
+        "object_B_id": 190,
+        "object_B_category": "lighting",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 31,
+        "asked_second_object_id": 190
+      }
+    },
+    {
+      "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) hallway (B) kitchen (C) dining booth",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "dining booth"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "dining booth"
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+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) dining booth (B) meetingroom/conferenceroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "dining booth",
+        "meetingroom/conferenceroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_4",
+          "0_6",
+          "0_8"
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+        "correct_answer_room": "0_6",
+        "all_options": [
+          "dining booth",
+          "meetingroom/conferenceroom",
+          "kitchen"
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+        "context_rooms": "hallway, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
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+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "office",
+        "remaining_rooms": [
+          "hallway",
+          "office"
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+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "office"
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+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 21,
+    "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) hallway (B) classroom (C) kitchen",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "classroom",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_9",
+      "adjacent_rooms": [
+        "0_4",
+        "0_8"
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+      "correct_answer_room": "0_4",
+      "all_options": [
+        "hallway",
+        "classroom",
+        "kitchen"
+      ],
+      "context_rooms": "office"
+    }
+  }
+}

train/000417/meta.json

@@ -0,0 +1,254 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the stairs and take a right. Walk past the table and into the hallway toward the door. Stop in front of the silver pillar with the door on your left. ', instruction_tokens=[2584, 780, 2389, 2222, 119, 2352, 73, 1968, 15, 2584, 1728, 2389, 2342, 119, 1264, 2389, 1126, 2451, 2389, 757, 15, 2278, 1237, 1019, 1605, 2389, 2127, 1783, 2661, 2389, 757, 1613, 2706, 1360, 15])",
+  "instruction_text": "Walk down the stairs and take a right. Walk past the table and into the hallway toward the door. Stop in front of the silver pillar with the door on your left. ",
+  "num_steps": 59,
+  "total_unique_objects": 131,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the cabinet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        192
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+      "metadata": {
+        "probe_object_id": 192,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 27,
+        "num_sightings": 9,
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+          5.532754898071289
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+        "normalized_position_x": 0.9367613636363636,
+        "object_pixel_count": 275,
+        "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 cabinet before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        242,
+        248
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+      "metadata": {
+        "object_A_id": 242,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 11,
+        "object_B_id": 248,
+        "object_B_category": "shelving",
+        "object_B_timestep": 14,
+        "time_gap": 3,
+        "asked_first_object_id": 242,
+        "asked_second_object_id": 248
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 52,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) closet (C) spa/sauna",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "closet",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "closet",
+          "spa/sauna"
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+        "rooms_visited": [
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+      "question": "From your current viewpoint, is the cabinet to the left or right of the objects?",
+      "answer": "left",
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+        "left",
+        "right"
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+        232
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+      "metadata": {
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+      "question": "You are currently in the familyroom/lounge, and you can see the bedroom, stairs. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) closet (B) stairs (C) outdoor",
+      "answer": "B",
+      "options": [
+        "closet",
+        "stairs",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_30",
+        "adjacent_rooms": [
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+          "0_14",
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+          "0_20",
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+          "0_4",
+          "0_6"
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+        "correct_answer_room": "0_4",
+        "all_options": [
+          "closet",
+          "stairs",
+          "outdoor"
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+        "context_rooms": "bedroom, stairs"
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+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "kitchen",
+        "landmark_room": "stairs",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
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+          "familyroom/lounge",
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+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
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+          "stairs"
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+    }
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+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 44,
+    "question": "From your current viewpoint, is the objects to the left or right of the chair?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      308,
+      286
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+    "metadata": {
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+      "object_A_category": "chair",
+      "object_A_position": [
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+        4.866640090942383
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+      "object_B_category": "objects",
+      "object_B_position": [
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+        0.8855082988739014,
+        -2.1210994720458984
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+      "agent_position": [
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+        -0.3995205760002136,
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+    }
+  }
+}

train/000429/meta.json

@@ -0,0 +1,161 @@
+{
+  "episode_id": 429,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and go down the stairs. Walk forward and stop in front of the CHristmas Tree. ', instruction_tokens=[2494, 159, 119, 1067, 780, 2389, 2222, 15, 2584, 993, 119, 2278, 1237, 1019, 1605, 2389, 490, 2469, 15])",
+  "instruction_text": "Turn around and go down the stairs. Walk forward and stop in front of the CHristmas Tree. ",
+  "num_steps": 40,
+  "total_unique_objects": 285,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) balcony",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "bedroom",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "balcony"
+        ],
+        "query_timestep_internal": 23,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 35,
+      "question": "From your current viewpoint, is the bed to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        287,
+        286
+      ],
+      "metadata": {
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+        "object_A_category": "curtain",
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+        "object_B_category": "bed",
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+          -0.9358989596366882,
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+    {
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+      "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) bedroom (C) kitchen",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "bedroom",
+        "kitchen"
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+      "probe_objects": [],
+      "metadata": {
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+          "0_5",
+          "0_7"
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+        "correct_answer_room": "0_7",
+        "all_options": [
+          "entryway/foyer/lobby",
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+          "kitchen"
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+        "context_rooms": "familyroom/lounge, bathroom"
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+    },
+    {
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+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
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+      "probe_objects": [],
+      "metadata": {
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+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
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+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
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+    }
+  ],
+  "primary_query": {
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+    "query_timestep": 30,
+    "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) dining room (B) balcony (C) porch/terrace/deck",
+    "answer": "A",
+    "options": [
+      "dining room",
+      "balcony",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
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+      "adjacent_rooms": [
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+        "0_5",
+        "0_6"
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+      "correct_answer_room": "0_6",
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+        "dining room",
+        "balcony",
+        "porch/terrace/deck"
+      ],
+      "context_rooms": "familyroom/lounge, bathroom"
+    }
+  }
+}

train/000457/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 457,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the bathroom and through the television room into the hallway. In the hall go to the stairs and go up the stairs, stopping on the fourth from the top stair. ', instruction_tokens=[2584, 1658, 1605, 2389, 242, 119, 2418, 2389, 2375, 1994, 1264, 2389, 1126, 15, 1237, 2389, 1121, 1067, 2438, 2389, 2222, 119, 1067, 2527, 2389, 2222, 2279, 1613, 2389, 1002, 1017, 2389, 2444, 2219, 15])",
+  "instruction_text": "Walk out of the bathroom and through the television room into the hallway. In the hall go to the stairs and go up the stairs, stopping on the fourth from the top stair. ",
+  "num_steps": 75,
+  "total_unique_objects": 153,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        120
+      ],
+      "metadata": {
+        "probe_object_id": 120,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 20,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.225800037384033,
+          -2.4802401065826416,
+          -1.9039299488067627
+        ],
+        "agent_position_when_seen": [
+          -5.298027038574219,
+          -3.240571975708008,
+          -1.1059644222259521
+        ],
+        "pixel_centroid_x": 225.96130952380952,
+        "normalized_position_x": 0.7653227306547619,
+        "object_pixel_count": 336,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 75
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 74,
+      "question": "Along your path, did you see the mirror before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        310
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "",
+        "object_A_timestep": 2,
+        "object_B_id": 310,
+        "object_B_category": "mirror",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 310,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "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) kitchen (B) bathroom (C) lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "bathroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "kitchen",
+          "bathroom",
+          "lounge"
+        ],
+        "query_timestep_internal": 9,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the table to the left or right of the seating?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        340,
+        104
+      ],
+      "metadata": {
+        "object_A_id": 340,
+        "object_A_category": "seating",
+        "object_A_position": [
+          -4.703239917755127,
+          0.7599282264709473,
+          -2.215369701385498
+        ],
+        "object_B_id": 104,
+        "object_B_category": "table",
+        "object_B_position": [
+          -4.582900047302246,
+          -2.9418997764587402,
+          0.6656367778778076
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -5.144712924957275,
+          -3.240571975708008,
+          -0.9084932804107666
+        ],
+        "agent_rotation": [
+          -0.32412612438201904,
+          0.0,
+          0.9460139274597168,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 26,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) entryway/foyer/lobby (B) bathroom (C) living room",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "bathroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_21",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "bathroom",
+          "living room"
+        ],
+        "context_rooms": "stairs, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "bathroom",
+        "landmark_room": "dining room",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "bathroom",
+          "living room",
+          "hallway",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 5,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) lounge (B) dining room (C) kitchen",
+    "answer": "A",
+    "options": [
+      "lounge",
+      "dining room",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_20",
+      "adjacent_rooms": [
+        "1_11",
+        "1_12",
+        "1_13",
+        "1_14",
+        "1_15",
+        "1_16",
+        "1_17",
+        "1_19",
+        "1_22",
+        "1_24"
+      ],
+      "correct_answer_room": "1_19",
+      "all_options": [
+        "lounge",
+        "dining room",
+        "kitchen"
+      ],
+      "context_rooms": "bedroom, lounge"
+    }
+  }
+}

train/000460/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 460,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Head towards the three lounge chairs, turn right before you reach them and face the restroom. ', instruction_tokens=[1162, 2452, 2389, 2415, 1425, 458, 2494, 1968, 281, 2703, 1920, 2393, 119, 903, 2389, 1960, 15])",
+  "instruction_text": "Head towards the three lounge chairs, turn right before you reach them and face the restroom. ",
+  "num_steps": 48,
+  "total_unique_objects": 106,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 47,
+      "question": "Recall your earlier path. When you passed by the shower in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        215
+      ],
+      "metadata": {
+        "probe_object_id": 215,
+        "probe_category": "shower",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          -20.1875,
+          1.327390193939209,
+          -4.680530071258545
+        ],
+        "agent_position_when_seen": [
+          -14.452099800109863,
+          0.12697899341583252,
+          -5.715069770812988
+        ],
+        "pixel_centroid_x": 80.03149606299213,
+        "normalized_position_x": -0.37475393700787396,
+        "object_pixel_count": 127,
+        "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 picture before or after the mirror?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        133,
+        224
+      ],
+      "metadata": {
+        "object_A_id": 133,
+        "object_A_category": "mirror",
+        "object_A_timestep": 3,
+        "object_B_id": 224,
+        "object_B_category": "picture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 224,
+        "asked_second_object_id": 133
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "hallway",
+          "office"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the picture to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        234,
+        224
+      ],
+      "metadata": {
+        "object_A_id": 234,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -14.807499885559082,
+          0.5370340347290039,
+          2.7439301013946533
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+        "object_B_id": 224,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -15.659099578857422,
+          1.0410399436950684,
+          -0.48827284574508667
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+        "spatial_relation": "right",
+        "agent_position": [
+          -14.452099800109863,
+          0.12697899341583252,
+          -5.715069770812988
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+        "agent_rotation": [
+          0.487044095993042,
+          0.0,
+          0.8733774423599243,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the toilet you see now directly connected to? (A) spa/sauna (B) office (C) stairs",
+      "answer": "A",
+      "options": [
+        "spa/sauna",
+        "office",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "spa/sauna",
+          "office",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 13,
+      "question": "From your current position, will you pass through the spa/sauna on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 13,
+        "current_room": "hallway",
+        "landmark_room": "spa/sauna",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 40,
+    "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) other room (B) bathroom (C) entryway/foyer/lobby",
+    "answer": "B",
+    "options": [
+      "other room",
+      "bathroom",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_7",
+      "adjacent_rooms": [
+        "0_10",
+        "0_4",
+        "0_5",
+        "0_6",
+        "0_8"
+      ],
+      "correct_answer_room": "0_5",
+      "all_options": [
+        "other room",
+        "bathroom",
+        "entryway/foyer/lobby"
+      ],
+      "context_rooms": "hallway, toilet"
+    }
+  }
+}

train/000467/meta.json

@@ -0,0 +1,216 @@
+{
+  "episode_id": 467,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bedroom, walk into the second door on the right, stop in the empty room. ', instruction_tokens=[888, 2389, 273, 2584, 1264, 2389, 2054, 757, 1613, 2389, 1968, 2278, 1237, 2389, 843, 1994, 15])",
+  "instruction_text": "Exit the bedroom, walk into the second door on the right, stop in the empty room. ",
+  "num_steps": 42,
+  "total_unique_objects": 34,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "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": [
+        74
+      ],
+      "metadata": {
+        "probe_object_id": 74,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 12,
+        "num_sightings": 5,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.7015000581741333,
+          -0.03469240665435791,
+          1.191999912261963
+        ],
+        "agent_position_when_seen": [
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+          -0.2089579850435257,
+          -0.17308256030082703
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+        "pixel_centroid_x": 29.45412935323383,
+        "normalized_position_x": -0.7698896144278606,
+        "object_pixel_count": 15075,
+        "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 lighting before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        73,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 73,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 70,
+        "object_B_category": "lighting",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 73
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) kitchen (C) utilityroom/toolroom",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "kitchen",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "kitchen",
+          "utilityroom/toolroom"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the lighting to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        74,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 74,
+        "object_A_category": "bed",
+        "object_A_position": [
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+          -0.03469240665435791,
+          1.191999912261963
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+        "object_B_id": 70,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          -0.9921290874481201,
+          1.976289987564087,
+          0.13991189002990723
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+        "spatial_relation": "right",
+        "agent_position": [
+          -0.0018063100287690759,
+          -0.2089579850435257,
+          -0.0029978600796312094
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+        "agent_rotation": [
+          -0.9609487056732178,
+          0.0,
+          -0.2767266631126404,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "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": 10,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 41,
+    "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": [
+      74
+    ],
+    "metadata": {
+      "probe_object_id": 74,
+      "probe_category": "bed",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_4",
+      "first_seen_timestep": 10,
+      "best_view_timestep": 12,
+      "num_sightings": 5,
+      "spatial_relation": "left",
+      "object_position": [
+        -1.7015000581741333,
+        -0.03469240665435791,
+        1.191999912261963
+      ],
+      "agent_position_when_seen": [
+        -0.1850307583808899,
+        -0.2089579850435257,
+        -0.17308256030082703
+      ],
+      "pixel_centroid_x": 29.45412935323383,
+      "normalized_position_x": -0.7698896144278606,
+      "object_pixel_count": 15075,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 42
+    }
+  }
+}

train/000472/data.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756ed8484f48a26d3ac3ee24350d0bda7422b2e6c7533e4178cea002f5a65e30
+size 26638166

train/000490/meta.json

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+{
+  "episode_id": 490,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/b8cTxDM8gDG/b8cTxDM8gDG.glb",
+  "instruction": "InstructionData(instruction_text='Turn 180 degrees around so you are facing the steps leading to a hallway with photos on the right wall. Go up the steps. Walk down the hallway. Pass two doorways. When you get to a plant turn toward the third doorway. ', instruction_tokens=[2494, 35, 684, 159, 2178, 2703, 149, 906, 2389, 2265, 1349, 2438, 73, 1126, 2661, 1772, 1613, 2389, 1968, 2593, 15, 1067, 2527, 2389, 2265, 15, 2584, 780, 2389, 1126, 15, 1721, 2509, 768, 15, 2632, 2703, 1046, 2438, 73, 1810, 2494, 2451, 2389, 2404, 766, 15])",
+  "instruction_text": "Turn 180 degrees around so you are facing the steps leading to a hallway with photos on the right wall. Go up the steps. Walk down the hallway. Pass two doorways. When you get to a plant turn toward the third doorway. ",
+  "num_steps": 58,
+  "total_unique_objects": 211,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the picture in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        132
+      ],
+      "metadata": {
+        "probe_object_id": 132,
+        "probe_category": "picture",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+        "normalized_position_x": -0.825570279535865,
+        "object_pixel_count": 474,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the plant before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        97
+      ],
+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 97,
+        "object_B_category": "cushion",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 8,
+        "asked_second_object_id": 97
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) familyroom/lounge (C) living room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 23,
+        "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 curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85,
+        41
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "curtain",
+        "object_A_position": [
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+        "object_B_id": 41,
+        "object_B_category": "stairs",
+        "object_B_position": [
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+          0.04002189636230469
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
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+          4.166283130645752
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+        "agent_rotation": [
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+          0.7160376906394958,
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+      }
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+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 35,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) living room (B) entryway/foyer/lobby (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2"
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+        "correct_answer_room": "0_0",
+        "all_options": [
+          "living room",
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "bathroom"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 57,
+    "question": "Recall your earlier path. When you passed by the sink in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      79
+    ],
+    "metadata": {
+      "probe_object_id": 79,
+      "probe_category": "sink",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_1",
+      "first_seen_timestep": 24,
+      "best_view_timestep": 34,
+      "num_sightings": 9,
+      "spatial_relation": "left",
+      "object_position": [
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+      "agent_position_when_seen": [
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+      "pixel_centroid_x": 9.32696390658174,
+      "normalized_position_x": -0.9271330944798302,
+      "object_pixel_count": 471,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 58
+    }
+  }
+}