Add files using upload-large-folder tool

train/000002/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 2,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Go around the kitchen island and wait between the tall cabinet and wine fridge. ', instruction_tokens=[1067, 159, 2389, 1306, 1268, 119, 2579, 294, 2389, 2358, 408, 119, 2655, 1014, 15])",
+  "instruction_text": "Go around the kitchen island and wait between the tall cabinet and wine fridge. ",
+  "num_steps": 44,
+  "total_unique_objects": 210,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        91
+      ],
+      "metadata": {
+        "probe_object_id": 91,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 31,
+        "best_view_timestep": 37,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -10.518400192260742,
+          -2.2614998817443848,
+          5.2494001388549805
+        ],
+        "agent_position_when_seen": [
+          -14.571329116821289,
+          0.1518409252166748,
+          4.171013832092285
+        ],
+        "pixel_centroid_x": 66.44767441860465,
+        "normalized_position_x": -0.4808775436046512,
+        "object_pixel_count": 172,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the cabinet before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        346,
+        171
+      ],
+      "metadata": {
+        "object_A_id": 346,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 171,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 346,
+        "asked_second_object_id": 171
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) office (C) hallway",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "office",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "office",
+          "hallway"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the objects to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        346,
+        363
+      ],
+      "metadata": {
+        "object_A_id": 346,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -17.070100784301758,
+          2.0102996826171875,
+          -0.5574986934661865
+        ],
+        "object_B_id": 363,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -16.00909996032715,
+          2.2562203407287598,
+          -0.47192299365997314
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -16.267200469970703,
+          0.1518409252166748,
+          0.7207760214805603
+        ],
+        "agent_rotation": [
+          0.96571946144104,
+          0.0,
+          0.25958818197250366,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 4,
+    "question": "From your current viewpoint, is the cabinet to the left or right of the appliances?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      385,
+      349
+    ],
+    "metadata": {
+      "object_A_id": 385,
+      "object_A_category": "appliances",
+      "object_A_position": [
+        -17.016399383544922,
+        1.0858898162841797,
+        2.7316298484802246
+      ],
+      "object_B_id": 349,
+      "object_B_category": "cabinet",
+      "object_B_position": [
+        -17.0851993560791,
+        0.43144798278808594,
+        0.5332350730895996
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -16.267200469970703,
+        0.1518409252166748,
+        0.7207760214805603
+      ],
+      "agent_rotation": [
+        0.8656269311904907,
+        0.0,
+        0.5006895065307617,
+        0.0
+      ]
+    }
+  }
+}

train/000023/meta.json

@@ -0,0 +1,247 @@
+{
+  "episode_id": 23,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom.  Turn right and walk down the hall.  Enter the first room on the right and stand in the doorway. ', instruction_tokens=[888, 2389, 242, 15, 2494, 1968, 119, 2584, 780, 2389, 1121, 15, 860, 2389, 946, 1994, 1613, 2389, 1968, 119, 2235, 1237, 2389, 766, 15])",
+  "instruction_text": "Exit the bathroom.  Turn right and walk down the hall.  Enter the first room on the right and stand in the doorway. ",
+  "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": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) living room (C) stairs",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "living room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "living room",
+          "stairs"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "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": [
+        331,
+        334
+      ],
+      "metadata": {
+        "object_A_id": 331,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
+          -3.9822096824645996,
+          -0.2074752002954483,
+          -6.8484601974487305
+        ],
+        "object_B_id": 334,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -5.416629791259766,
+          -0.029283523559570312,
+          -5.016139984130859
+        ],
+        "spatial_relation": "right",
+        "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": 18,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) balcony (B) bathroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "balcony",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_5",
+          "0_6",
+          "0_9"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "balcony",
+          "bathroom",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the balcony on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "bathroom",
+        "landmark_room": "balcony",
+        "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": "L2.2_LocalSpatialRelation",
+    "query_timestep": 14,
+    "question": "From your current viewpoint, is the cabinet to the left or right of the bed?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      334,
+      353
+    ],
+    "metadata": {
+      "object_A_id": 334,
+      "object_A_category": "bed",
+      "object_A_position": [
+        -5.416629791259766,
+        -0.029283523559570312,
+        -5.016139984130859
+      ],
+      "object_B_id": 353,
+      "object_B_category": "cabinet",
+      "object_B_position": [
+        2.737179756164551,
+        0.371432900428772,
+        0.6364200115203857
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -8.640926361083984,
+        -0.3697805404663086,
+        -8.41928768157959
+      ],
+      "agent_rotation": [
+        -0.2891979515552521,
+        0.0,
+        0.9572693109512329,
+        0.0
+      ]
+    }
+  }
+}

train/000050/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 50,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward with the glass door on your right. Take a right at the first door past the wood and rice paper partition and stop in the doorway. ', instruction_tokens=[2584, 993, 2661, 2389, 1057, 757, 1613, 2706, 1968, 15, 2352, 73, 1968, 178, 2389, 946, 757, 1728, 2389, 2668, 119, 1964, 1709, 1716, 119, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Walk forward with the glass door on your right. Take a right at the first door past the wood and rice paper partition and stop in the doorway. ",
+  "num_steps": 75,
+  "total_unique_objects": 274,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the mirror in the spa/sauna, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        182
+      ],
+      "metadata": {
+        "probe_object_id": 182,
+        "probe_category": "mirror",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 62,
+        "num_sightings": 22,
+        "spatial_relation": "right",
+        "object_position": [
+          -19.222000122070312,
+          1.3574297428131104,
+          2.5053398609161377
+        ],
+        "agent_position_when_seen": [
+          -14.734075546264648,
+          0.12697899341583252,
+          -4.4045586585998535
+        ],
+        "pixel_centroid_x": 233.8302752293578,
+        "normalized_position_x": 0.8267990252293578,
+        "object_pixel_count": 436,
+        "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": [
+        28,
+        155
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 155,
+        "object_B_category": "mirror",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 155,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 74,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "toilet",
+          "hallway",
+          "office"
+        ],
+        "query_timestep_internal": 74,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 52,
+      "question": "From your current viewpoint, is the table to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        230,
+        172
+      ],
+      "metadata": {
+        "object_A_id": 230,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -11.604999542236328,
+          0.548630952835083,
+          2.792520046234131
+        ],
+        "object_B_id": 172,
+        "object_B_category": "table",
+        "object_B_position": [
+          -17.967100143432617,
+          0.291800856590271,
+          1.628829836845398
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -14.285661697387695,
+          0.12697899341583252,
+          -6.336079120635986
+        ],
+        "agent_rotation": [
+          -0.17854514718055725,
+          0.0,
+          -0.9839317202568054,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 65,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom 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_5",
+        "adjacent_rooms": [
+          "0_4",
+          "0_6",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "spa/sauna",
+          "office",
+          "stairs"
+        ],
+        "context_rooms": "toilet, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 74,
+    "question": "Recall your earlier path. When you passed by the mirror in the spa/sauna, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      182
+    ],
+    "metadata": {
+      "probe_object_id": 182,
+      "probe_category": "mirror",
+      "probe_room": "spa/sauna",
+      "probe_region_id": "0_7",
+      "first_seen_timestep": 41,
+      "best_view_timestep": 62,
+      "num_sightings": 22,
+      "spatial_relation": "right",
+      "object_position": [
+        -19.222000122070312,
+        1.3574297428131104,
+        2.5053398609161377
+      ],
+      "agent_position_when_seen": [
+        -14.734075546264648,
+        0.12697899341583252,
+        -4.4045586585998535
+      ],
+      "pixel_centroid_x": 233.8302752293578,
+      "normalized_position_x": 0.8267990252293578,
+      "object_pixel_count": 436,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 75
+    }
+  }
+}

train/000057/meta.json

@@ -0,0 +1,202 @@
+{
+  "episode_id": 57,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/GdvgFV5R1Z5/GdvgFV5R1Z5.glb",
+  "instruction": "InstructionData(instruction_text='Walk to the mirror on the side of the wall, near the door. Enter the bathroom. ', instruction_tokens=[2584, 2438, 2389, 1515, 1613, 2389, 2121, 1605, 2389, 2593, 1563, 2389, 757, 15, 860, 2389, 242, 15])",
+  "instruction_text": "Walk to the mirror on the side of the wall, near the door. Enter the bathroom. ",
+  "num_steps": 50,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        86
+      ],
+      "metadata": {
+        "probe_object_id": 86,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
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+        "num_sightings": 7,
+        "spatial_relation": "right",
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+          2.664949655532837
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the cabinet before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        8,
+        35
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+      "metadata": {
+        "object_A_id": 8,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 35,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 8,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 16,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) kitchen (C) bedroom",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "kitchen",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "bathroom",
+          "kitchen",
+          "bedroom"
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+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the mirror to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        92,
+        89
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+          0.4130808115005493,
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+        "object_B_category": "mirror",
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+          1.4944199323654175,
+          1.5216798782348633
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+          0.16666600108146667,
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+          -0.6507728695869446,
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+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "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": 20,
+        "current_room": "kitchen",
+        "landmark_room": "bedroom",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "entryway/foyer/lobby",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 38,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) bedroom (C) bathroom",
+    "answer": "A",
+    "options": [
+      "living room",
+      "bedroom",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "living room",
+      "all_options": [
+        "living room",
+        "bedroom",
+        "bathroom"
+      ],
+      "query_timestep_internal": 38,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "living room"
+      ]
+    }
+  }
+}

train/000075/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 75,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and go to the door\\r\\nGo to the next door\\r\\nGo through the door on the left. ', instruction_tokens=[2494, 1968, 119, 1067, 2438, 2389, 757, 1067, 2438, 2389, 1576, 757, 1067, 2418, 2389, 757, 1613, 2389, 1360, 15])",
+  "instruction_text": "Turn right and go to the door\r\nGo to the next door\r\nGo through the door on the left. ",
+  "num_steps": 32,
+  "total_unique_objects": 174,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 31,
+      "question": "Recall your earlier path. When you passed by the bathtub in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        287
+      ],
+      "metadata": {
+        "probe_object_id": 287,
+        "probe_category": "bathtub",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.24813365936279297,
+          3.9497897624969482
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+        "agent_position_when_seen": [
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+          -5.906589031219482
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+        "pixel_centroid_x": 226.7192118226601,
+        "normalized_position_x": 0.771243842364532,
+        "object_pixel_count": 406,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 32
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 31,
+      "question": "Along your path, did you see the picture before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        88
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "",
+        "object_A_timestep": 1,
+        "object_B_id": 88,
+        "object_B_category": "picture",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 88,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) kitchen (C) lounge",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "kitchen",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "bedroom",
+          "kitchen",
+          "lounge"
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+        "rooms_visited": [
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the railing to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        389,
+        446
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+      "metadata": {
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+        "object_A_category": "sofa",
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+        "object_B_id": 446,
+        "object_B_category": "railing",
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) familyroom/lounge (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_15",
+        "adjacent_rooms": [
+          "1_14",
+          "1_17",
+          "1_20"
+        ],
+        "correct_answer_room": "1_14",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "lounge",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 31,
+    "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      300
+    ],
+    "metadata": {
+      "probe_object_id": 300,
+      "probe_category": "bed",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_15",
+      "first_seen_timestep": 8,
+      "best_view_timestep": 19,
+      "num_sightings": 16,
+      "spatial_relation": "right",
+      "object_position": [
+        -5.411190032958984,
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+        0.8973901271820068
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+      "agent_position_when_seen": [
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+        0.15942811965942383,
+        -4.423884868621826
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+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 32
+    }
+  }
+}

train/000080/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 80,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight ahead, veering to the right to avoid the stairs.  Go past the potted plant and into the first doorway on the left.  Stop there and wait. ', instruction_tokens=[2584, 2288, 98, 2553, 2438, 2389, 1968, 2438, 185, 2389, 2222, 15, 1067, 1728, 2389, 1864, 1810, 119, 1264, 2389, 946, 766, 1613, 2389, 1360, 15, 2278, 2395, 119, 2579, 15])",
+  "instruction_text": "Walk straight ahead, veering to the right to avoid the stairs.  Go past the potted plant and into the first doorway on the left.  Stop there and wait. ",
+  "num_steps": 57,
+  "total_unique_objects": 223,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the lighting in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        450
+      ],
+      "metadata": {
+        "probe_object_id": 450,
+        "probe_category": "lighting",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "1_20",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
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+          2.101109504699707,
+          4.88530969619751
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+        "agent_position_when_seen": [
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+          -4.2442097663879395
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+        "pixel_centroid_x": 245.55,
+        "normalized_position_x": 0.9183593750000001,
+        "object_pixel_count": 140,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 57
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 56,
+      "question": "Along your path, did you see the plant before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        432
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 2,
+        "object_B_id": 432,
+        "object_B_category": "plant",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 432,
+        "asked_second_object_id": 29
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "toilet",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "toilet",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the objects to the left or right of the seating?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        455,
+        449
+      ],
+      "metadata": {
+        "object_A_id": 455,
+        "object_A_category": "seating",
+        "object_A_position": [
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+          0.19836974143981934,
+          2.7023298740386963
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+        "object_B_id": 449,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -11.233599662780762,
+          0.5724527835845947,
+          1.9704499244689941
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.11554622650146484,
+          -4.2442097663879395
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+        "agent_rotation": [
+          0.6180774569511414,
+          0.0,
+          -0.7861172556877136,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) toilet (B) living room (C) hallway",
+    "answer": "C",
+    "options": [
+      "toilet",
+      "living room",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "toilet",
+        "living room",
+        "hallway"
+      ],
+      "query_timestep_internal": 27,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000093/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 93,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the closet and pass the sinks on the left. Past the sinks take a right into the bedroom. walk straight in the bedroom past the bed on the right and the couch on the right. At the couch take a left and go on the patio stopping nest to the third panel on the fence on the right. ', instruction_tokens=[2584, 1658, 1605, 2389, 521, 119, 1721, 2389, 2133, 1613, 2389, 1360, 15, 1728, 2389, 2133, 2352, 73, 1968, 1264, 2389, 273, 15, 2584, 2288, 1237, 2389, 273, 1728, 2389, 267, 1613, 2389, 1968, 119, 2389, 593, 1613, 2389, 1968, 15, 178, 2389, 593, 2352, 73, 1360, 119, 1067, 1613, 2389, 1737, 2279, 1570, 2438, 2389, 2404, 1698, 1613, 2389, 923, 1613, 2389, 1968, 15])",
+  "instruction_text": "Walk out of the closet and pass the sinks on the left. Past the sinks take a right into the bedroom. walk straight in the bedroom past the bed on the right and the couch on the right. At the couch take a left and go on the patio stopping nest to the third panel on the fence on the right. ",
+  "num_steps": 61,
+  "total_unique_objects": 167,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the stool in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        326
+      ],
+      "metadata": {
+        "probe_object_id": 326,
+        "probe_category": "stool",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 38,
+        "best_view_timestep": 45,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
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+          3.547640085220337,
+          5.982709884643555
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+        "agent_position_when_seen": [
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+          6.847352027893066,
+          -3.4050793647766113
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+        "pixel_centroid_x": 220.8943488943489,
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+        "object_pixel_count": 407,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the  before or after the counter?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        20
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "counter",
+        "object_A_timestep": 0,
+        "object_B_id": 20,
+        "object_B_category": "",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 55,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) stairs (C) balcony",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "stairs",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "porch/terrace/deck",
+          "stairs",
+          "balcony"
+        ],
+        "query_timestep_internal": 55,
+        "rooms_visited": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "closet"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the mirror to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        306,
+        330
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+      "metadata": {
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+        "object_A_category": "table",
+        "object_A_position": [
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+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 19,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) porch/terrace/deck (B) bedroom (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_29",
+        "adjacent_rooms": [
+          "2_26",
+          "2_27",
+          "2_28",
+          "2_30",
+          "2_31",
+          "2_32"
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+        "correct_answer_room": "2_26",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "office, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 27,
+        "current_room": "bathroom",
+        "landmark_room": "closet",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "balcony"
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+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bathroom",
+          "bedroom",
+          "closet"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "closet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 54,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) balcony (C) living room",
+    "answer": "B",
+    "options": [
+      "office",
+      "balcony",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "balcony",
+      "all_options": [
+        "office",
+        "balcony",
+        "living room"
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+      "query_timestep_internal": 54,
+      "rooms_visited": [
+        "balcony",
+        "bathroom",
+        "bedroom",
+        "closet"
+      ]
+    }
+  }
+}

train/000094/meta.json

@@ -0,0 +1,239 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
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+  "total_unique_objects": 127,
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+      "question": "Recall your earlier path. When you passed by the table in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
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+      "probe_objects": [
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+        "probe_category": "table",
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+        "determination_method": "pixel_position",
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+    },
+    {
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+      "question": "Along your path, did you see the sink before or after the stairs?",
+      "answer": "before",
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+        "at the same time"
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) hallway (C) living room",
+      "answer": "B",
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+      "metadata": {
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+      "question": "From your current viewpoint, is the furniture to the left or right of the appliances?",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bedroom (B) dining room (C) familyroom/lounge",
+      "answer": "A",
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+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
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+      "options": [
+        "yes",
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+        "current_room": "stairs",
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+        "remaining_rooms": [
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+        "passed_rooms": [
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+  "primary_query": {
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+    "query_timestep": 47,
+    "question": "Recall your earlier path. When you passed by the lighting in the familyroom/lounge, was it on your left side or right side?",
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+      "probe_category": "lighting",
+      "probe_room": "familyroom/lounge",
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+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
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+      "determination_method": "pixel_position",
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+    }
+  }
+}

train/000095/meta.json

@@ -0,0 +1,243 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk up the remaining steps. Walk down the hall and through the open door of the bedroom with blue painted walls and ceiling fan. ', instruction_tokens=[2494, 159, 119, 2584, 2527, 2389, 1954, 2265, 15, 2584, 780, 2389, 1121, 119, 2418, 2389, 1625, 757, 1605, 2389, 273, 2661, 324, 1685, 2597, 119, 447, 912, 15])",
+  "instruction_text": "Turn around and walk up the remaining steps. Walk down the hall and through the open door of the bedroom with blue painted walls and ceiling fan. ",
+  "num_steps": 48,
+  "total_unique_objects": 127,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
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+      "probe_objects": [
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+      "metadata": {
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+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_4",
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+        "num_sightings": 4,
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+        "total_trajectory_length": 48
+      }
+    },
+    {
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+      "query_timestep": 47,
+      "question": "Along your path, did you see the stairs before or after the sink?",
+      "answer": "after",
+      "options": [
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+        "at the same time"
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+      "probe_objects": [
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+        "time_gap": 3,
+        "asked_first_object_id": 104,
+        "asked_second_object_id": 200
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+    {
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) living room",
+      "answer": "A",
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+        "living room"
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+      "question": "From your current viewpoint, is the sink to the left or right of the counter?",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) bathroom (B) bedroom (C) stairs",
+      "answer": "C",
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+          "stairs"
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+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
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+      "options": [
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+        "no"
+      ],
+      "probe_objects": [],
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+        "current_room": "stairs",
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+    "question": "Recall your earlier path. When you passed by the lighting in the familyroom/lounge, was it on your left side or right side?",
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 48
+    }
+  }
+}

train/000116/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 116,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb",
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+  "instruction_text": "exit the bedroom and go through the kitchen and and then go out onto the porch. ",
+  "num_steps": 41,
+  "total_unique_objects": 88,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the sink in the kitchen, was it on your left side or right side?",
+      "answer": "right",
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+      "probe_objects": [
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+        "probe_category": "sink",
+        "probe_room": "kitchen",
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+        "query_timestep_internal": 30,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 51,
+    "question": "From your current viewpoint, is the seating to the left or right of the chair?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      280,
+      281
+    ],
+    "metadata": {
+      "object_A_id": 280,
+      "object_A_category": "chair",
+      "object_A_position": [
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+        0.7006890773773193,
+        -0.892427921295166
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+      "object_B_id": 281,
+      "object_B_category": "seating",
+      "object_B_position": [
+        -4.251659870147705,
+        0.39455509185791016,
+        -4.673230171203613
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+      "spatial_relation": "right",
+      "agent_position": [
+        -0.3477412462234497,
+        -5.955618858337402,
+        -2.8135814666748047
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+      "agent_rotation": [
+        0.7359734177589417,
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+        0.6770104765892029,
+        0.0
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+    }
+  }
+}

train/000249/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 249,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='Move towards and around the left side of flowerbed, continuing to move forward until you reach the railing on the right. ', instruction_tokens=[1537, 2452, 119, 159, 2389, 1360, 2121, 1605, 967, 572, 2438, 1537, 993, 2524, 2703, 1920, 2389, 1910, 1613, 2389, 1968, 15])",
+  "instruction_text": "Move towards and around the left side of flowerbed, continuing to move forward until you reach the railing on the right. ",
+  "num_steps": 66,
+  "total_unique_objects": 328,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the column in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        209
+      ],
+      "metadata": {
+        "probe_object_id": 209,
+        "probe_category": "column",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 51,
+        "best_view_timestep": 53,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          1.6642398834228516,
+          0.41712403297424316
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+          3.326362371444702,
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+        "pixel_centroid_x": 244.76984126984127,
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+        "object_pixel_count": 126,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the plant before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        27,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 27,
+        "object_A_category": "",
+        "object_A_timestep": 3,
+        "object_B_id": 1,
+        "object_B_category": "plant",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 27
+      }
+    },
+    {
+      "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) hallway (B) balcony (C) kitchen",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "balcony",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "hallway",
+          "balcony",
+          "kitchen"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "balcony"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the chair to the left or right of the furniture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        260,
+        271
+      ],
+      "metadata": {
+        "object_A_id": 260,
+        "object_A_category": "furniture",
+        "object_A_position": [
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+        "object_B_id": 271,
+        "object_B_category": "chair",
+        "object_B_position": [
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+          0.4652330279350281,
+          -0.7520768642425537
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+        "spatial_relation": "right",
+        "agent_position": [
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+          3.4458744525909424,
+          1.9608255624771118
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+        "agent_rotation": [
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+          -0.8015545010566711,
+          0.0
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+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 22,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) bedroom (C) balcony",
+    "answer": "C",
+    "options": [
+      "laundryroom/mudroom",
+      "bedroom",
+      "balcony"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "balcony",
+      "all_options": [
+        "laundryroom/mudroom",
+        "bedroom",
+        "balcony"
+      ],
+      "query_timestep_internal": 22,
+      "rooms_visited": [
+        "balcony"
+      ]
+    }
+  }
+}

train/000290/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 290,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Walk across the room to the door next to the couch, and stop. ', instruction_tokens=[2584, 85, 2389, 1994, 2438, 2389, 757, 1576, 2438, 2389, 593, 119, 2278, 15])",
+  "instruction_text": "Walk across the room to the door next to the couch, and stop. ",
+  "num_steps": 45,
+  "total_unique_objects": 59,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 44,
+      "question": "Recall your earlier path. When you passed by the counter in the kitchen, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        153
+      ],
+      "metadata": {
+        "probe_object_id": 153,
+        "probe_category": "counter",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.14711904525756836,
+          -4.739719867706299
+        ],
+        "agent_position_when_seen": [
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+          -0.2089579850435257,
+          -6.024400234222412
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+        "pixel_centroid_x": 69.55166051660517,
+        "normalized_position_x": -0.45662765221402213,
+        "object_pixel_count": 542,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 45
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 44,
+      "question": "Along your path, did you see the objects before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        105,
+        198
+      ],
+      "metadata": {
+        "object_A_id": 105,
+        "object_A_category": "",
+        "object_A_timestep": 9,
+        "object_B_id": 198,
+        "object_B_category": "objects",
+        "object_B_timestep": 33,
+        "time_gap": 24,
+        "asked_first_object_id": 198,
+        "asked_second_object_id": 105
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) entryway/foyer/lobby (C) closet",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "entryway/foyer/lobby",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "entryway/foyer/lobby",
+          "closet"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "kitchen",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 11,
+      "question": "From your current viewpoint, is the table to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        210,
+        155
+      ],
+      "metadata": {
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+        "object_A_category": "stairs",
+        "object_A_position": [
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+        "object_B_id": 155,
+        "object_B_category": "table",
+        "object_B_position": [
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+          0.0946953296661377,
+          -3.2246997356414795
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.2089579850435257,
+          -6.024400234222412
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+        "agent_rotation": [
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+          0.969869077205658,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "question": "You are currently in the living room, and you can see the stairs, kitchen. Based on your understanding of the environment layout, which other area is the living room directly connected to? (A) hallway (B) other room (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "other room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_9"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "hallway",
+          "other room",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "stairs, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "kitchen",
+        "landmark_room": "closet",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "kitchen",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "kitchen",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 33,
+    "question": "From your current viewpoint, is the sofa to the left or right of the stairs?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      210,
+      193
+    ],
+    "metadata": {
+      "object_A_id": 210,
+      "object_A_category": "stairs",
+      "object_A_position": [
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+        1.2124300003051758,
+        0.6541550159454346
+      ],
+      "object_B_id": 193,
+      "object_B_category": "sofa",
+      "object_B_position": [
+        -6.4316301345825195,
+        0.1789839267730713,
+        0.6219649314880371
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -8.322516441345215,
+        -0.2089579850435257,
+        -2.748830795288086
+      ],
+      "agent_rotation": [
+        -0.01569533534348011,
+        0.0,
+        0.999876856803894,
+        0.0
+      ]
+    }
+  }
+}

train/000304/meta.json

@@ -0,0 +1,201 @@
+{
+  "episode_id": 304,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk passed the table and display board. Walk up the small set of stair passed the displace board that enter a large open room with office desks. ', instruction_tokens=[2584, 1725, 2389, 2342, 119, 733, 325, 15, 2584, 2527, 2389, 2170, 2073, 1605, 2219, 1725, 2389, 732, 325, 2388, 860, 73, 1336, 1625, 1994, 2661, 1607, 693, 15])",
+  "instruction_text": "Walk passed the table and display board. Walk up the small set of stair passed the displace board that enter a large open room with office desks. ",
+  "num_steps": 24,
+  "total_unique_objects": 351,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 23,
+      "question": "Recall your earlier path. When you passed by the cabinet in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        17
+      ],
+      "metadata": {
+        "probe_object_id": 17,
+        "probe_category": "cabinet",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          24.94930076599121,
+          -0.2636770009994507,
+          -2.1631598472595215
+        ],
+        "agent_position_when_seen": [
+          25.42180061340332,
+          -0.7064279913902283,
+          2.023710012435913
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+        "pixel_centroid_x": 137.1922290388548,
+        "normalized_position_x": 0.07181428936605316,
+        "object_pixel_count": 489,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 18,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) kitchen (C) lounge",
+      "answer": "B",
+      "options": [
+        "other room",
+        "kitchen",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "other room",
+          "kitchen",
+          "lounge"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 5,
+      "question": "From your current viewpoint, is the counter to the left or right of the stool?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        3,
+        33
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "stool",
+        "object_A_position": [
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+          -0.08331727981567383,
+          0.7386359572410583
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+        "object_B_id": 33,
+        "object_B_category": "counter",
+        "object_B_position": [
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+          -0.3879539668560028,
+          -0.0024355053901672363
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.7064279913902283,
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+        "agent_rotation": [
+          0.7461769580841064,
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+          0.6657477021217346,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "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) stairs (C) lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "stairs",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_16",
+          "1_19",
+          "1_3",
+          "1_4",
+          "1_6"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "kitchen",
+          "stairs",
+          "lounge"
+        ],
+        "context_rooms": "junk, meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "kitchen",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 11,
+    "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) office (B) entryway/foyer/lobby (C) kitchen",
+    "answer": "C",
+    "options": [
+      "office",
+      "entryway/foyer/lobby",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_17",
+      "adjacent_rooms": [
+        "0_0"
+      ],
+      "correct_answer_room": "0_0",
+      "all_options": [
+        "office",
+        "entryway/foyer/lobby",
+        "kitchen"
+      ],
+      "context_rooms": ""
+    }
+  }
+}

train/000315/meta.json

@@ -0,0 +1,206 @@
+{
+  "episode_id": 315,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Exit the room, turn left into the first door on the left, stop beside the sink. ', instruction_tokens=[888, 2389, 1994, 2494, 1360, 1264, 2389, 946, 757, 1613, 2389, 1360, 2278, 293, 2389, 2132, 15])",
+  "instruction_text": "Exit the room, turn left into the first door on the left, stop beside the sink. ",
+  "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": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        74
+      ],
+      "metadata": {
+        "probe_object_id": 74,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_4",
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+        "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",
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+        "time_gap": 21,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) stairs (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "stairs",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "stairs",
+          "kitchen"
+        ],
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+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 30,
+      "question": "From your current viewpoint, is the table to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        75,
+        77
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+      "metadata": {
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+        "object_A_category": "chair",
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+        "object_B_category": "table",
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+          -2.6720969676971436
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 4,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "other room",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 12,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) stairs (C) closet",
+    "answer": "A",
+    "options": [
+      "other room",
+      "stairs",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "other room",
+      "all_options": [
+        "other room",
+        "stairs",
+        "closet"
+      ],
+      "query_timestep_internal": 12,
+      "rooms_visited": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "hallway",
+        "other room"
+      ]
+    }
+  }
+}

train/000329/meta.json

@@ -0,0 +1,144 @@
+{
+  "episode_id": 329,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the room into the hallway. Walk passed the exit sign into the hallway on the other side of the room. Walk along the glass partition walls around the first corner and stop at the closed wooden doors. ', instruction_tokens=[2584, 1658, 1605, 2389, 1994, 1264, 2389, 1126, 15, 2584, 1725, 2389, 888, 2125, 1264, 2389, 1126, 1613, 2389, 1651, 2121, 1605, 2389, 1994, 15, 2584, 108, 2389, 1057, 1716, 2597, 159, 2389, 946, 589, 119, 2278, 178, 2389, 518, 2672, 762, 15])",
+  "instruction_text": "Walk out of the room into the hallway. Walk passed the exit sign into the hallway on the other side of the room. Walk along the glass partition walls around the first corner and stop at the closed wooden doors. ",
+  "num_steps": 61,
+  "total_unique_objects": 615,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the column before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        1015
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+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 1015,
+        "object_B_category": "column",
+        "object_B_timestep": 12,
+        "time_gap": 12,
+        "asked_first_object_id": 1015,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "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) other room (B) library (C) hallway",
+      "answer": "C",
+      "options": [
+        "other room",
+        "library",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "library",
+          "hallway"
+        ],
+        "query_timestep_internal": 48,
+        "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 dining booth you see now directly connected to? (A) office (B) dining booth (C) classroom",
+      "answer": "B",
+      "options": [
+        "office",
+        "dining booth",
+        "classroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_30",
+        "adjacent_rooms": [
+          "0_24",
+          "0_29",
+          "0_4"
+        ],
+        "correct_answer_room": "0_29",
+        "all_options": [
+          "office",
+          "dining booth",
+          "classroom"
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+        "context_rooms": "library, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "office",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 60,
+    "question": "Along your path, did you see the table before or after the column?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      4,
+      1015
+    ],
+    "metadata": {
+      "object_A_id": 4,
+      "object_A_category": "table",
+      "object_A_timestep": 0,
+      "object_B_id": 1015,
+      "object_B_category": "column",
+      "object_B_timestep": 12,
+      "time_gap": 12,
+      "asked_first_object_id": 4,
+      "asked_second_object_id": 1015
+    }
+  }
+}

train/000353/meta.json

@@ -0,0 +1,256 @@
+{
+  "episode_id": 353,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom. Turn right and wait between the doorways by the plants. ', instruction_tokens=[888, 2389, 242, 15, 2494, 1968, 119, 2579, 294, 2389, 768, 404, 2389, 1814, 15])",
+  "instruction_text": "Exit the bathroom. Turn right and wait between the doorways by the plants. ",
+  "num_steps": 49,
+  "total_unique_objects": 208,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the table in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        131
+      ],
+      "metadata": {
+        "probe_object_id": 131,
+        "probe_category": "table",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 38,
+        "best_view_timestep": 43,
+        "num_sightings": 7,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.2738161087036133,
+          -3.795649528503418
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+          0.09863299131393433,
+          -5.838710308074951
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+        "pixel_centroid_x": 63.515151515151516,
+        "normalized_position_x": -0.5037878787878788,
+        "object_pixel_count": 198,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the table before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "table",
+        "object_A_timestep": 1,
+        "object_B_id": 5,
+        "object_B_category": "bed",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 26,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) hallway (B) entryway/foyer/lobby (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "other room"
+        ],
+        "query_timestep_internal": 31,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "utilityroom/toolroom",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the stairs to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        178,
+        145
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+      "metadata": {
+        "object_A_id": 178,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+        "object_B_category": "stairs",
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the workout/gym/exercise you see now directly connected to? (A) stairs (B) spa/sauna (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "spa/sauna",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
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+          "0_13",
+          "0_15",
+          "0_16",
+          "0_19",
+          "0_3",
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "stairs",
+          "spa/sauna",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "other room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "bathroom",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "utilityroom/toolroom",
+          "bathroom",
+          "hallway",
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "utilityroom/toolroom",
+          "workout/gym/exercise"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 44,
+    "question": "From your current viewpoint, is the stairs to the left or right of the bed?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      5,
+      140
+    ],
+    "metadata": {
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+      "object_A_category": "bed",
+      "object_A_position": [
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+        0.28086602687835693,
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+      "object_B_id": 140,
+      "object_B_category": "stairs",
+      "object_B_position": [
+        1.757930040359497,
+        -0.40888798236846924,
+        1.0345200300216675
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+      "spatial_relation": "left",
+      "agent_position": [
+        1.6125271320343018,
+        0.09863299131393433,
+        -5.5889081954956055
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+        0.019889099523425102,
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+        -0.9998021721839905,
+        0.0
+      ]
+    }
+  }
+}

train/000363/meta.json

@@ -0,0 +1,90 @@
+{
+  "episode_id": 363,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway following the marble flooring and stop when it turns left. ', instruction_tokens=[2584, 780, 2389, 1126, 974, 2389, 1462, 963, 119, 2278, 2632, 1272, 2497, 1360, 15])",
+  "instruction_text": "Walk down the hallway following the marble flooring and stop when it turns left. ",
+  "num_steps": 49,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 20,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 20,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "spa/sauna",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 45,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) office",
+    "answer": "B",
+    "options": [
+      "other room",
+      "hallway",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "other room",
+        "hallway",
+        "office"
+      ],
+      "query_timestep_internal": 45,
+      "rooms_visited": [
+        "hallway",
+        "spa/sauna"
+      ]
+    }
+  }
+}

train/000366/meta.json

@@ -0,0 +1,246 @@
+{
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+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "rec/game",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "rec/game",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "rec/game"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "rec/game"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 12,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) rec/game (B) stairs (C) balcony",
+    "answer": "A",
+    "options": [
+      "rec/game",
+      "stairs",
+      "balcony"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "rec/game",
+      "all_options": [
+        "rec/game",
+        "stairs",
+        "balcony"
+      ],
+      "query_timestep_internal": 12,
+      "rooms_visited": [
+        "bedroom",
+        "rec/game"
+      ]
+    }
+  }
+}

train/000426/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 426,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the living room. Make a right at the smoke detector. Wait on the zebra rug. ', instruction_tokens=[2584, 2418, 2389, 1404, 1994, 15, 1446, 73, 1968, 178, 2389, 2174, 696, 15, 2579, 1613, 2389, 2708, 2010, 15])",
+  "instruction_text": "Walk through the living room. Make a right at the smoke detector. Wait on the zebra rug. ",
+  "num_steps": 62,
+  "total_unique_objects": 80,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        31
+      ],
+      "metadata": {
+        "probe_object_id": 31,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          1.9991899728775024,
+          -2.4536502361297607,
+          2.2694599628448486
+        ],
+        "agent_position_when_seen": [
+          0.8209019899368286,
+          -2.650341033935547,
+          -2.193650007247925
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+        "pixel_centroid_x": 89.55882352941177,
+        "normalized_position_x": -0.30032169117647056,
+        "object_pixel_count": 102,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 62
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 61,
+      "question": "Along your path, did you see the chair before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        31
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 31,
+        "object_B_category": "table",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 31
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 24,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) bedroom (C) kitchen",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "bedroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 24,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 4,
+      "question": "From your current viewpoint, is the bed to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        130,
+        135
+      ],
+      "metadata": {
+        "object_A_id": 130,
+        "object_A_category": "chair",
+        "object_A_position": [
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+          0.6227130889892578,
+          -1.8018598556518555
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+        "object_B_id": 135,
+        "object_B_category": "bed",
+        "object_B_position": [
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+          0.9088819026947021,
+          -3.815190315246582
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -2.650341033935547,
+          -2.193650007247925
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+        "agent_rotation": [
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+          0.0,
+          -0.9548004269599915,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) stairs (B) bathroom (C) closet",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "bathroom",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_10",
+          "1_14",
+          "1_15",
+          "1_9"
+        ],
+        "correct_answer_room": "1_14",
+        "all_options": [
+          "stairs",
+          "bathroom",
+          "closet"
+        ],
+        "context_rooms": "bedroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 61,
+    "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      31
+    ],
+    "metadata": {
+      "probe_object_id": 31,
+      "probe_category": "table",
+      "probe_room": "familyroom/lounge",
+      "probe_region_id": "0_1",
+      "first_seen_timestep": 5,
+      "best_view_timestep": 5,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        1.9991899728775024,
+        -2.4536502361297607,
+        2.2694599628448486
+      ],
+      "agent_position_when_seen": [
+        0.8209019899368286,
+        -2.650341033935547,
+        -2.193650007247925
+      ],
+      "pixel_centroid_x": 89.55882352941177,
+      "normalized_position_x": -0.30032169117647056,
+      "object_pixel_count": 102,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 62
+    }
+  }
+}

train/000428/meta.json

@@ -0,0 +1,165 @@
+{
+  "episode_id": 428,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the stairs, when you reach the bottom stop at the christmas tree. ', instruction_tokens=[2584, 780, 2389, 2222, 2632, 2703, 1920, 2389, 348, 2278, 178, 2389, 490, 2469, 15])",
+  "instruction_text": "Walk down the stairs, when you reach the bottom stop at the christmas tree. ",
+  "num_steps": 40,
+  "total_unique_objects": 285,
+  "mindcraft_queries": [
+    {
+      "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) kitchen (B) entryway/foyer/lobby (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "entryway/foyer/lobby",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "kitchen",
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 31,
+      "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": {
+        "object_A_id": 287,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          0.8389300107955933,
+          1.6210803985595703,
+          -10.850000381469727
+        ],
+        "object_B_id": 286,
+        "object_B_category": "bed",
+        "object_B_position": [
+          0.9711859226226807,
+          1.3128795623779297,
+          -9.278779983520508
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -6.1954193115234375,
+          -2.556687593460083,
+          -10.476728439331055
+        ],
+        "agent_rotation": [
+          0.582493782043457,
+          0.0,
+          -0.8128350973129272,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 34,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the porch/terrace/deck, living room. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) hallway (B) bedroom (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2",
+          "0_3",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "porch/terrace/deck, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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": "entryway/foyer/lobby",
+      "remaining_rooms": [
+        "stairs",
+        "entryway/foyer/lobby"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "stairs"
+      ]
+    }
+  }
+}

train/000433/meta.json

@@ -0,0 +1,191 @@
+{
+  "episode_id": 433,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the large glass doors and turn left facing the diningroom table and wait. ', instruction_tokens=[2584, 2452, 2389, 1336, 1057, 762, 119, 2494, 1360, 906, 2389, 712, 2342, 119, 2579, 15])",
+  "instruction_text": "Walk towards the large glass doors and turn left facing the diningroom table and wait. ",
+  "num_steps": 47,
+  "total_unique_objects": 322,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 46,
+      "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        14
+      ],
+      "metadata": {
+        "probe_object_id": 14,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 15,
+        "best_view_timestep": 15,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.204860210418701,
+          -1.237959861755371,
+          6.451720237731934
+        ],
+        "agent_position_when_seen": [
+          -8.162391662597656,
+          0.1518409252166748,
+          8.541259765625
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+        "pixel_centroid_x": 236.42727272727274,
+        "normalized_position_x": 0.8470880681818183,
+        "object_pixel_count": 110,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 47
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 46,
+      "question": "Along your path, did you see the chair before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        36,
+        26
+      ],
+      "metadata": {
+        "object_A_id": 36,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 26,
+        "object_B_category": "mirror",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 36,
+        "asked_second_object_id": 26
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) garage (B) closet (C) hallway",
+      "answer": "C",
+      "options": [
+        "garage",
+        "closet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "garage",
+          "closet",
+          "hallway"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 43,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room 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": "0_11",
+        "adjacent_rooms": [
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bathroom",
+          "hallway",
+          "living room"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 23,
+    "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 23,
+      "current_room": "hallway",
+      "landmark_room": "entryway/foyer/lobby",
+      "final_room": "kitchen",
+      "remaining_rooms": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "kitchen"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000459/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 459,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom into the living room. Continue up the spiral staircase and stop three-quarters of the way up the staircase. ', instruction_tokens=[888, 2389, 242, 1264, 2389, 1404, 1994, 15, 569, 2527, 2389, 2201, 2220, 119, 2278, 2416, 1605, 2389, 2616, 2527, 2389, 2220, 15])",
+  "instruction_text": "Exit the bathroom into the living room. Continue up the spiral staircase and stop three-quarters of the way up the staircase. ",
+  "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 mirror in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        121
+      ],
+      "metadata": {
+        "probe_object_id": 121,
+        "probe_category": "mirror",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 19,
+        "num_sightings": 12,
+        "spatial_relation": "right",
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+      "question": "Along your path, did you see the mirror before or after the ?",
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) laundryroom/mudroom (C) living room",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) lounge (B) hallway (C) stairs",
+      "answer": "B",
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+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
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+    "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) lounge (B) hallway (C) dining room",
+    "answer": "B",
+    "options": [
+      "lounge",
+      "hallway",
+      "dining room"
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+      "context_rooms": "stairs, stairs"
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+}

train/000461/meta.json

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+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='walk across the office to the lounge seats. Turn right into the 2nd door on the right. Enter the room and stop at the bench. ', instruction_tokens=[2584, 85, 2389, 1607, 2438, 2389, 1425, 2053, 15, 2494, 1968, 1264, 2389, 40, 757, 1613, 2389, 1968, 15, 860, 2389, 1994, 119, 2278, 178, 2389, 290, 15])",
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+      "answer": "C",
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+      "question": "From your current position, will you pass through the spa/sauna on the way to your destination?",
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+    "question": "From your current viewpoint, is the objects to the left or right of the mirror?",
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train/000463/data.npz

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+size 30249034

train/000466/meta.json

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+{
+  "episode_id": 466,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Go straight through the doorway.  Then turn to the right.  Go to a room that has paneling on the walls and one window at the end of the room.  Wait there on the patchwork tile. ', instruction_tokens=[1067, 2288, 2418, 2389, 766, 15, 2394, 2494, 2438, 2389, 1968, 15, 1067, 2438, 73, 1994, 2388, 1156, 1700, 1613, 2389, 2597, 119, 1616, 2652, 178, 2389, 851, 1605, 2389, 1994, 15, 2579, 2395, 1613, 2389, 1733, 2429, 15])",
+  "instruction_text": "Go straight through the doorway.  Then turn to the right.  Go to a room that has paneling on the walls and one window at the end of the room.  Wait there on the patchwork tile. ",
+  "num_steps": 42,
+  "total_unique_objects": 34,
+  "mindcraft_queries": [
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+      "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": [
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+        "right"
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+      "probe_objects": [
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+        "probe_category": "bed",
+        "probe_room": "bedroom",
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+        "category_unique_in_region": true,
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+    {
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+      "query_timestep": 41,
+      "question": "Along your path, did you see the chair before or after the lighting?",
+      "answer": "before",
+      "options": [
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+        "at the same time"
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+      "query_timestep": 22,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) hallway (C) kitchen",
+      "answer": "B",
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+        "hallway",
+        "kitchen"
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+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) living room (C) other room",
+      "answer": "A",
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+        "bathroom",
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+  "primary_query": {
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+    "query_timestep": 32,
+    "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) stairs (B) utilityroom/toolroom (C) closet",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "utilityroom/toolroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_1",
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+        "closet"
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+      "context_rooms": "bedroom, hallway"
+    }
+  }
+}

train/000488/meta.json

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+{
+  "episode_id": 488,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward away from the gym room Turn right at the end of the hall. Stop in the doorway of the first room on your right. ', instruction_tokens=[2584, 993, 187, 1017, 2389, 1114, 1994, 2494, 1968, 178, 2389, 851, 1605, 2389, 1121, 15, 2278, 1237, 2389, 766, 1605, 2389, 946, 1994, 1613, 2706, 1968, 15])",
+  "instruction_text": "Walk forward away from the gym room Turn right at the end of the hall. Stop in the doorway of the first room on your right. ",
+  "num_steps": 51,
+  "total_unique_objects": 432,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the fireplace in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85
+      ],
+      "metadata": {
+        "probe_object_id": 85,
+        "probe_category": "fireplace",
+        "probe_room": "living room",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 31,
+        "num_sightings": 16,
+        "spatial_relation": "left",
+        "object_position": [
+          1.6546299457550049,
+          0.9650869369506836,
+          5.61870002746582
+        ],
+        "agent_position_when_seen": [
+          1.8921945095062256,
+          0.003321051597595215,
+          -14.649866104125977
+        ],
+        "pixel_centroid_x": 28.673003802281368,
+        "normalized_position_x": -0.7759921577946768,
+        "object_pixel_count": 263,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 51
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 50,
+      "question": "Along your path, did you see the chair before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        45
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 45,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 45
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 18,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) laundryroom/mudroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "laundryroom/mudroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "laundryroom/mudroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "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) hallway (B) tv (C) bedroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "tv",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "hallway",
+          "tv",
+          "bedroom"
+        ],
+        "context_rooms": "living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "hallway",
+        "landmark_room": "kitchen",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 25,
+    "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 25,
+      "current_room": "hallway",
+      "landmark_room": "entryway/foyer/lobby",
+      "final_room": "entryway/foyer/lobby",
+      "remaining_rooms": [
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000493/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 493,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='walk forward past the living, dining room, and office. Go straight into the bedroom at the end of the hallway, and take a left into the mini kitchen area. Stop in front of the minifridge. ', instruction_tokens=[2584, 993, 1728, 2389, 1404, 711, 1994, 119, 1607, 15, 1067, 2288, 1264, 2389, 273, 178, 2389, 851, 1605, 2389, 1126, 119, 2352, 73, 1360, 1264, 2389, 1510, 1306, 150, 15, 2278, 1237, 1019, 1605, 2389, 1514, 15])",
+  "instruction_text": "walk forward past the living, dining room, and office. Go straight into the bedroom at the end of the hallway, and take a left into the mini kitchen area. Stop in front of the minifridge. ",
+  "num_steps": 70,
+  "total_unique_objects": 362,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "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": [
+        805
+      ],
+      "metadata": {
+        "probe_object_id": 805,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_22",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.4081759452819824,
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+          5.494649887084961
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+        "object_pixel_count": 122,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 70
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the stool before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        100
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 100,
+        "object_B_category": "stool",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 100,
+        "asked_second_object_id": 92
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 66,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) stairs (C) bedroom",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bathroom",
+          "stairs",
+          "bedroom"
+        ],
+        "query_timestep_internal": 66,
+        "rooms_visited": [
+          "bedroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 21,
+      "question": "From your current viewpoint, is the railing to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        955,
+        651
+      ],
+      "metadata": {
+        "object_A_id": 955,
+        "object_A_category": "picture",
+        "object_A_position": [
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+          4.7061896324157715,
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+        "object_B_category": "railing",
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+          1.6255098581314087,
+          -1.8097097873687744
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.11414599418640137,
+          1.4957793951034546
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+        "agent_rotation": [
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+          0.0,
+          -0.011890185996890068,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) dining room (B) hallway (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_2",
+        "adjacent_rooms": [
+          "1_0",
+          "1_21",
+          "1_28"
+        ],
+        "correct_answer_room": "1_21",
+        "all_options": [
+          "dining room",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bathroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "dining room",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "dining room",
+          "hallway",
+          "bedroom",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 42,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) closet (C) laundryroom/mudroom",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "closet",
+      "laundryroom/mudroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "closet",
+        "laundryroom/mudroom"
+      ],
+      "query_timestep_internal": 42,
+      "rooms_visited": [
+        "bedroom",
+        "dining room",
+        "hallway",
+        "kitchen"
+      ]
+    }
+  }
+}

train/000541/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 541,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Step forward and turn to the right.  Walk through the room between the two couches.  Turn right past the couch and walk down the narrow hallway.  There is a doorway with stairs on your right off the hallway.  Walk past that doorway.  Enter the room with the wood floor in front of you and stop in front of the grey couch. ', instruction_tokens=[2260, 993, 119, 2494, 2438, 2389, 1968, 15, 2584, 2418, 2389, 1994, 294, 2389, 2509, 595, 15, 2494, 1968, 1728, 2389, 593, 119, 2584, 780, 2389, 1552, 1126, 15, 2395, 1267, 73, 766, 2661, 2222, 1613, 2706, 1968, 1606, 2389, 1126, 15, 2584, 1728, 2388, 766, 15, 860, 2389, 1994, 2661, 2389, 2668, 959, 1237, 1019, 1605, 2703, 119, 2278, 1237, 1019, 1605, 2389, 1101, 593, 15])",
+  "instruction_text": "Step forward and turn to the right.  Walk through the room between the two couches.  Turn right past the couch and walk down the narrow hallway.  There is a doorway with stairs on your right off the hallway.  Walk past that doorway.  Enter the room with the wood floor in front of you and stop in front of the grey couch. ",
+  "num_steps": 58,
+  "total_unique_objects": 80,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        452
+      ],
+      "metadata": {
+        "probe_object_id": 452,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_21",
+        "first_seen_timestep": 46,
+        "best_view_timestep": 46,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.026939868927002,
+          5.21999979019165,
+          3.6746296882629395
+        ],
+        "agent_position_when_seen": [
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+          0.05781888961791992,
+          -5.79652214050293
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+        "pixel_centroid_x": 242.22916666666666,
+        "normalized_position_x": 0.8924153645833333,
+        "object_pixel_count": 192,
+        "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  before or after the plant?",
+      "answer": "after",
+      "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": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 32,
+        "asked_second_object_id": 158
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) outdoor (B) entryway/foyer/lobby (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "outdoor",
+        "entryway/foyer/lobby",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "outdoor",
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the stairs to the left or right of the plant?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        112,
+        139
+      ],
+      "metadata": {
+        "object_A_id": 112,
+        "object_A_category": "plant",
+        "object_A_position": [
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+        "object_B_category": "stairs",
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+          2.041290521621704,
+          -2.365839719772339
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.24928602576255798,
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+          -0.8365675210952759,
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) hallway (B) porch/terrace/deck (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "porch/terrace/deck",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_6",
+        "adjacent_rooms": [
+          "1_10",
+          "1_13",
+          "1_5",
+          "1_8"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "hallway",
+          "porch/terrace/deck",
+          "other room"
+        ],
+        "context_rooms": "familyroom/lounge, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
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+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 12,
+    "question": "From your current viewpoint, is the sofa in front of or behind the stairs?",
+    "answer": "behind",
+    "options": [
+      "in front of",
+      "behind"
+    ],
+    "probe_objects": [
+      139,
+      118
+    ],
+    "metadata": {
+      "object_A_id": 139,
+      "object_A_category": "stairs",
+      "object_A_position": [
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+      "object_B_category": "sofa",
+      "object_B_position": [
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+        -2.423140048980713
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+      "spatial_relation": "behind",
+      "agent_position": [
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+        -0.018870890140533447
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+      "agent_rotation": [
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+        0.0,
+        -0.7578999996185303,
+        0.0
+      ]
+    }
+  }
+}

train/000552/data.npz

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