Add files using upload-large-folder tool

train/000008/meta.json

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+{
+  "episode_id": 8,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Go through the doorway to the hall.  Go down the hall past teh landing.  Take the first door on the right and stop in the doorway. ', instruction_tokens=[1067, 2418, 2389, 766, 2438, 2389, 1121, 15, 1067, 780, 2389, 1121, 1728, 2373, 1329, 15, 2352, 2389, 946, 757, 1613, 2389, 1968, 119, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Go through the doorway to the hall.  Go down the hall past teh landing.  Take the first door on the right and stop in the doorway. ",
+  "num_steps": 58,
+  "total_unique_objects": 279,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the towel in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        97
+      ],
+      "metadata": {
+        "probe_object_id": 97,
+        "probe_category": "towel",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 26,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -11.403400421142578,
+          -1.4487500190734863,
+          4.662859916687012
+        ],
+        "agent_position_when_seen": [
+          -13.354859352111816,
+          3.151840925216675,
+          6.179063320159912
+        ],
+        "pixel_centroid_x": 7.1192660550458715,
+        "normalized_position_x": -0.9443807339449541,
+        "object_pixel_count": 109,
+        "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 chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        36,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 36,
+        "object_A_category": "chair",
+        "object_A_timestep": 1,
+        "object_B_id": 83,
+        "object_B_category": "",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 83,
+        "asked_second_object_id": 36
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 49,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) closet (C) garage",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "closet",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "closet",
+          "garage"
+        ],
+        "query_timestep_internal": 49,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) tv (B) laundryroom/mudroom (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "tv",
+        "laundryroom/mudroom",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_12",
+        "adjacent_rooms": [
+          "1_13",
+          "1_17"
+        ],
+        "correct_answer_room": "1_17",
+        "all_options": [
+          "tv",
+          "laundryroom/mudroom",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 57,
+    "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+    "answer": "left",
+    "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": 33,
+      "best_view_timestep": 45,
+      "num_sightings": 14,
+      "spatial_relation": "left",
+      "object_position": [
+        -5.204860210418701,
+        -1.237959861755371,
+        6.451720237731934
+      ],
+      "agent_position_when_seen": [
+        -9.4341459274292,
+        3.151840925216675,
+        5.875240325927734
+      ],
+      "pixel_centroid_x": 48.8475935828877,
+      "normalized_position_x": -0.6183781751336899,
+      "object_pixel_count": 374,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 58
+    }
+  }
+}

train/000011/meta.json

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+{
+  "episode_id": 11,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bar area. Turn left and walk down the hall, then turn right. Walk slightly to the left, toward the stairs. Wait by the stairs. ', instruction_tokens=[888, 2389, 217, 150, 15, 2494, 1360, 119, 2584, 780, 2389, 1121, 2394, 2494, 1968, 15, 2584, 2164, 2438, 2389, 1360, 2451, 2389, 2222, 15, 2579, 404, 2389, 2222, 15])",
+  "instruction_text": "Exit the bar area. Turn left and walk down the hall, then turn right. Walk slightly to the left, toward the stairs. Wait by the stairs. ",
+  "num_steps": 113,
+  "total_unique_objects": 415,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 112,
+      "question": "Recall your earlier path. When you passed by the table in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1686
+      ],
+      "metadata": {
+        "probe_object_id": 1686,
+        "probe_category": "table",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_44",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 33,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -21.756500244140625,
+          0.34728527069091797,
+          7.567159652709961
+        ],
+        "agent_position_when_seen": [
+          -13.32785701751709,
+          3.491008996963501,
+          1.234694480895996
+        ],
+        "pixel_centroid_x": 10.118811881188119,
+        "normalized_position_x": -0.9209467821782178,
+        "object_pixel_count": 101,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 113
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 112,
+      "question": "Along your path, did you see the cabinet before or after the lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        353,
+        46
+      ],
+      "metadata": {
+        "object_A_id": 353,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 46,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 353,
+        "asked_second_object_id": 46
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 43,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) lounge (C) rec/game",
+      "answer": "C",
+      "options": [
+        "other room",
+        "lounge",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "rec/game",
+        "all_options": [
+          "other room",
+          "lounge",
+          "rec/game"
+        ],
+        "query_timestep_internal": 43,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "rec/game"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 53,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        279,
+        364
+      ],
+      "metadata": {
+        "object_A_id": 279,
+        "object_A_category": "curtain",
+        "object_A_position": [
+          -19.30820083618164,
+          1.6706395149230957,
+          5.9853997230529785
+        ],
+        "object_B_id": 364,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -16.990299224853516,
+          1.9605693817138672,
+          4.258099555969238
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -15.648497581481934,
+          3.491008996963501,
+          -2.0023739337921143
+        ],
+        "agent_rotation": [
+          -0.903946042060852,
+          0.0,
+          -0.427646666765213,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 30,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) workout/gym/exercise (B) laundryroom/mudroom (C) balcony",
+      "answer": "B",
+      "options": [
+        "workout/gym/exercise",
+        "laundryroom/mudroom",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_10",
+          "0_23",
+          "0_25",
+          "0_27",
+          "0_28",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_23",
+        "all_options": [
+          "workout/gym/exercise",
+          "laundryroom/mudroom",
+          "balcony"
+        ],
+        "context_rooms": "garage, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "question": "From your current position, will you pass through the rec/game on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 20,
+        "current_room": "bathroom",
+        "landmark_room": "rec/game",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "rec/game",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "rec/game"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 1,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) other room (C) bathroom",
+    "answer": "C",
+    "options": [
+      "bedroom",
+      "other room",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "bedroom",
+        "other room",
+        "bathroom"
+      ],
+      "query_timestep_internal": 1,
+      "rooms_visited": [
+        "bathroom",
+        "hallway",
+        "rec/game"
+      ]
+    }
+  }
+}

train/000014/meta.json

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+{
+  "episode_id": 14,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/cV4RVeZvu5T/cV4RVeZvu5T.glb",
+  "instruction": "InstructionData(instruction_text='Turn around, down stairs, turn left, stop in kitchen, turn left into laundry room, stop at sink. ', instruction_tokens=[2494, 159, 780, 2222, 2494, 1360, 2278, 1237, 1306, 2494, 1360, 1264, 1343, 1994, 2278, 178, 2132, 15])",
+  "instruction_text": "Turn around, down stairs, turn left, stop in kitchen, turn left into laundry room, stop at sink. ",
+  "num_steps": 62,
+  "total_unique_objects": 284,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the cabinet in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        96
+      ],
+      "metadata": {
+        "probe_object_id": 96,
+        "probe_category": "cabinet",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 9,
+        "spatial_relation": "left",
+        "object_position": [
+          -3.402859926223755,
+          1.2855700254440308,
+          -0.3686009645462036
+        ],
+        "agent_position_when_seen": [
+          -0.6482639908790588,
+          0.9184679985046387,
+          6.242839813232422
+        ],
+        "pixel_centroid_x": 25.091603053435115,
+        "normalized_position_x": -0.8039718511450382,
+        "object_pixel_count": 262,
+        "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 cabinet before or after the objects?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        310
+      ],
+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 310,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 310,
+        "asked_second_object_id": 26
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 15,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) living room (C) hallway",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "living room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "living room",
+          "hallway"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 57,
+      "question": "From your current viewpoint, is the toilet in front of or behind the cabinet?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        149,
+        160
+      ],
+      "metadata": {
+        "object_A_id": 149,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -1.5120099782943726,
+          1.0773000717163086,
+          1.1480098962783813
+        ],
+        "object_B_id": 160,
+        "object_B_category": "toilet",
+        "object_B_position": [
+          0.23133200407028198,
+          0.3846319913864136,
+          1.7412501573562622
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          1.5081104040145874,
+          0.11846804618835449,
+          0.3528277277946472
+        ],
+        "agent_rotation": [
+          -0.8026400804519653,
+          0.0,
+          -0.5964637398719788,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 50,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) familyroom/lounge (B) bedroom (C) bathroom",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_5",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "familyroom/lounge",
+          "bedroom",
+          "bathroom"
+        ],
+        "context_rooms": "living room, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 30,
+    "question": "From your current position, will you pass through the stairs on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 30,
+      "current_room": "entryway/foyer/lobby",
+      "landmark_room": "stairs",
+      "final_room": "kitchen",
+      "remaining_rooms": [
+        "entryway/foyer/lobby",
+        "kitchen"
+      ],
+      "all_rooms_in_trajectory": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "entryway/foyer/lobby",
+        "stairs"
+      ]
+    }
+  }
+}

train/000040/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 40,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and walk into the hallway.  Turn left again and go down the hallway, into the kitchen and out the back door.  Stop on the rug just outside the doorway. ', instruction_tokens=[2494, 1360, 119, 2584, 1264, 2389, 1126, 15, 2494, 1360, 95, 119, 1067, 780, 2389, 1126, 1264, 2389, 1306, 119, 1658, 2389, 190, 757, 15, 2278, 1613, 2389, 2010, 1293, 1665, 2389, 766, 15])",
+  "instruction_text": "Turn left and walk into the hallway.  Turn left again and go down the hallway, into the kitchen and out the back door.  Stop on the rug just outside the doorway. ",
+  "num_steps": 64,
+  "total_unique_objects": 102,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the chair in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        97
+      ],
+      "metadata": {
+        "probe_object_id": 97,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -13.038700103759766,
+          0.5586159229278564,
+          -3.5398800373077393
+        ],
+        "agent_position_when_seen": [
+          -6.548476219177246,
+          0.04283595085144043,
+          -3.7429323196411133
+        ],
+        "pixel_centroid_x": 150.4655172413793,
+        "normalized_position_x": 0.1755118534482758,
+        "object_pixel_count": 116,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the lighting before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        214
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 214,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 214,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "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) bathroom (B) entryway/foyer/lobby (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "outdoor"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the appliances to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        311,
+        323
+      ],
+      "metadata": {
+        "object_A_id": 311,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+          0.49475693702697754,
+          2.2337799072265625
+        ],
+        "object_B_id": 323,
+        "object_B_category": "appliances",
+        "object_B_position": [
+          -9.364950180053711,
+          1.0992398262023926,
+          4.660329818725586
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -6.052338600158691,
+          0.04283595085144043,
+          -3.804957389831543
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+        "agent_rotation": [
+          0.6617967486381531,
+          0.0,
+          0.7496833801269531,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 2,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) laundryroom/mudroom (B) garage (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "garage",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_10",
+          "0_13",
+          "0_15",
+          "0_16",
+          "0_24",
+          "0_3"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "laundryroom/mudroom",
+          "garage",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "kitchen, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "hallway",
+        "landmark_room": "kitchen",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "outdoor"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "laundryroom/mudroom",
+          "outdoor"
+        ]
+      }
+    }
+  ],
+  "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) entryway/foyer/lobby (B) kitchen (C) porch/terrace/deck",
+    "answer": "B",
+    "options": [
+      "entryway/foyer/lobby",
+      "kitchen",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 42,
+      "rooms_visited": [
+        "dining room",
+        "hallway",
+        "kitchen",
+        "laundryroom/mudroom",
+        "outdoor"
+      ]
+    }
+  }
+}

train/000051/meta.json

@@ -0,0 +1,224 @@
+{
+  "episode_id": 51,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Move forward down the hall past the receptionist area with the water cooler. Stop in the first doorway to the right. ', instruction_tokens=[1537, 993, 780, 2389, 1121, 1728, 2389, 1930, 150, 2661, 2389, 2613, 583, 15, 2278, 1237, 2389, 946, 766, 2438, 2389, 1968, 15])",
+  "instruction_text": "Move forward down the hall past the receptionist area with the water cooler. Stop in the first doorway to the right. ",
+  "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 picture in the toilet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        137
+      ],
+      "metadata": {
+        "probe_object_id": 137,
+        "probe_category": "picture",
+        "probe_room": "toilet",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 39,
+        "best_view_timestep": 40,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -21.544599533081055,
+          0.8338298797607422,
+          -1.1480000019073486
+        ],
+        "agent_position_when_seen": [
+          -13.749409675598145,
+          0.12697899341583252,
+          -8.50166130065918
+        ],
+        "pixel_centroid_x": 239.90434782608696,
+        "normalized_position_x": 0.8742527173913044,
+        "object_pixel_count": 115,
+        "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  before or after the mirror?",
+      "answer": "before",
+      "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": 28,
+        "asked_second_object_id": 155
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 1,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) other room (C) spa/sauna",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "other room",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "other room",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 53,
+      "question": "From your current viewpoint, is the seating to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        234,
+        166
+      ],
+      "metadata": {
+        "object_A_id": 234,
+        "object_A_category": "chair",
+        "object_A_position": [
+          -14.807499885559082,
+          0.5370340347290039,
+          2.7439301013946533
+        ],
+        "object_B_id": 166,
+        "object_B_category": "seating",
+        "object_B_position": [
+          -18.295799255371094,
+          0.2673170566558838,
+          -3.15024995803833
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.12697899341583252,
+          -6.102018356323242
+        ],
+        "agent_rotation": [
+          -0.17854514718055725,
+          0.0,
+          -0.9839317202568054,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 33,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) toilet (B) office (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "office",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_11",
+          "0_27"
+        ],
+        "correct_answer_room": "0_27",
+        "all_options": [
+          "toilet",
+          "office",
+          "spa/sauna"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "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": 11,
+        "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": "L2.1_SelfLocalization",
+    "query_timestep": 60,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) spa/sauna (C) hallway",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "spa/sauna",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "stairs",
+        "spa/sauna",
+        "hallway"
+      ],
+      "query_timestep_internal": 60,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "hallway"
+      ]
+    }
+  }
+}

train/000063/meta.json

@@ -0,0 +1,189 @@
+{
+  "episode_id": 63,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and walk to the stairs.  Walk up the stairs.  Stop at the top of the stairs. ', instruction_tokens=[2494, 1360, 119, 2584, 2438, 2389, 2222, 15, 2584, 2527, 2389, 2222, 15, 2278, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Turn left and walk to the stairs.  Walk up the stairs.  Stop at the top of the stairs. ",
+  "num_steps": 54,
+  "total_unique_objects": 99,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the plant in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        505
+      ],
+      "metadata": {
+        "probe_object_id": 505,
+        "probe_category": "plant",
+        "probe_room": "stairs",
+        "probe_region_id": "3_28",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 23,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.6780798435211182,
+          2.9138600826263428,
+          2.185070276260376
+        ],
+        "agent_position_when_seen": [
+          -2.134856939315796,
+          0.2338050901889801,
+          -1.954891562461853
+        ],
+        "pixel_centroid_x": 237.7856071964018,
+        "normalized_position_x": 0.857700056221889,
+        "object_pixel_count": 667,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the objects before or after the stairs?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        320,
+        324
+      ],
+      "metadata": {
+        "object_A_id": 320,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 324,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 324,
+        "asked_second_object_id": 320
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) kitchen",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 38,
+      "question": "You are currently in the stairs, and you can see the bedroom. Based on your understanding of the environment layout, which other area is the stairs directly connected to? (A) living room (B) hallway (C) closet",
+      "answer": "B",
+      "options": [
+        "living room",
+        "hallway",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_19",
+        "adjacent_rooms": [
+          "2_10",
+          "2_18"
+        ],
+        "correct_answer_room": "2_18",
+        "all_options": [
+          "living room",
+          "hallway",
+          "closet"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 14,
+    "question": "From your current position, will you pass through the stairs on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 14,
+      "current_room": "hallway",
+      "landmark_room": "stairs",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "hallway",
+        "stairs",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000079/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 79,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Turn and walk down the hallway past the staircase. Continue down the hall around the corner near the potted plant. Walk up to the next open door on the wall with a bathroom inside. ', instruction_tokens=[2494, 119, 2584, 780, 2389, 1126, 1728, 2389, 2220, 15, 569, 780, 2389, 1121, 159, 2389, 589, 1563, 2389, 1864, 1810, 15, 2584, 2527, 2438, 2389, 1576, 1625, 757, 1613, 2389, 2593, 2661, 73, 242, 1249, 15])",
+  "instruction_text": "Turn and walk down the hallway past the staircase. Continue down the hall around the corner near the potted plant. Walk up to the next open door on the wall with a bathroom inside. ",
+  "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 seating in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        455
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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) stairs (B) dining room (C) bathroom",
+      "answer": "C",
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+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
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+    "question": "Along your path, did you see the curtain before or after the ?",
+    "answer": "after",
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+}

train/000217/meta.json

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+      "question": "Along your path, did you see the counter before or after the shelving?",
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+}

train/000227/meta.json

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+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
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+      "question": "From your current viewpoint, is the bathtub to the left or right of the chair?",
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+    "question": "From your current viewpoint, is the bathtub to the left or right of the cabinet?",
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train/000272/data.npz

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+size 23877071

train/000328/meta.json

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+{
+  "episode_id": 328,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Exit office and go straight towards exit sign. Continue straight down hallway until you reach a turn. Turn right and wait in front of door S-C. ', instruction_tokens=[888, 1607, 119, 1067, 2288, 2452, 888, 2125, 15, 569, 2288, 780, 1126, 2524, 2703, 1920, 73, 2494, 15, 2494, 1968, 119, 2579, 1237, 1019, 1605, 757, 2019, 15])",
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+  "num_steps": 61,
+  "total_unique_objects": 615,
+  "mindcraft_queries": [
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+      "question": "Along your path, did you see the column before or after the table?",
+      "answer": "after",
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+        1015
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) kitchen (C) hallway",
+      "answer": "C",
+      "options": [
+        "other room",
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+      "metadata": {
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+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) office (B) library (C) hallway",
+      "answer": "B",
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+}

train/000365/meta.json

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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Walk down hallway and stop at the end. ', instruction_tokens=[2584, 780, 1126, 119, 2278, 178, 2389, 851, 15])",
+  "instruction_text": "Walk down hallway and stop at the end. ",
+  "num_steps": 49,
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) hallway (C) other room",
+      "answer": "B",
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+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
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+    "question": "From your current position, will you pass through the other room on the way to your destination?",
+    "answer": "no",
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+      "passed_rooms": [
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+    }
+  }
+}

train/000371/meta.json

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+      "agent_position_when_seen": [
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+        0.9628505706787109
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+      "pixel_centroid_x": 126.58026755852843,
+      "normalized_position_x": -0.011091659698996614,
+      "object_pixel_count": 2392,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 49
+    }
+  }
+}

train/000395/meta.json

@@ -0,0 +1,250 @@
+{
+  "episode_id": 395,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/vyrNrziPKCB/vyrNrziPKCB.glb",
+  "instruction": "InstructionData(instruction_text='Go straight ahead and into the bathroom.  Then turn left and go into the bedroom.  Go out the door and walk past the pool table.  Go past the top of the stairs.  Go straight to the start of the windows.  Wait there. ', instruction_tokens=[1067, 2288, 98, 119, 1264, 2389, 242, 15, 2394, 2494, 1360, 119, 1067, 1264, 2389, 273, 15, 1067, 1658, 2389, 757, 119, 2584, 1728, 2389, 1846, 2342, 15, 1067, 1728, 2389, 2444, 1605, 2389, 2222, 15, 1067, 2288, 2438, 2389, 2245, 1605, 2389, 2654, 15, 2579, 2395, 15])",
+  "instruction_text": "Go straight ahead and into the bathroom.  Then turn left and go into the bedroom.  Go out the door and walk past the pool table.  Go past the top of the stairs.  Go straight to the start of the windows.  Wait there. ",
+  "num_steps": 78,
+  "total_unique_objects": 1105,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the plant in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1088
+      ],
+      "metadata": {
+        "probe_object_id": 1088,
+        "probe_category": "plant",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_38",
+        "first_seen_timestep": 39,
+        "best_view_timestep": 49,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.72298002243042,
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+        "agent_position_when_seen": [
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+          3.598568916320801,
+          13.01862621307373
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+        "pixel_centroid_x": 48.770270270270274,
+        "normalized_position_x": -0.6189822635135135,
+        "object_pixel_count": 148,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 78
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 77,
+      "question": "Along your path, did you see the blinds before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        101
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 101,
+        "object_B_category": "blinds",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 101,
+        "asked_second_object_id": 19
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 58,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) rec/game (C) garage",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "rec/game",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "rec/game",
+        "all_options": [
+          "kitchen",
+          "rec/game",
+          "garage"
+        ],
+        "query_timestep_internal": 58,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "hallway",
+          "other room",
+          "rec/game",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the shelving to the left or right of the lighting?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        688,
+        795
+      ],
+      "metadata": {
+        "object_A_id": 688,
+        "object_A_category": "lighting",
+        "object_A_position": [
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+        "object_B_category": "shelving",
+        "object_B_position": [
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+          1.445359230041504,
+          13.29379940032959
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+        "spatial_relation": "left",
+        "agent_position": [
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+          3.598568916320801,
+          17.402406692504883
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+        "agent_rotation": [
+          0.9780303239822388,
+          0.0,
+          -0.20846286416053772,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 62,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) garage (B) closet (C) hallway",
+      "answer": "C",
+      "options": [
+        "garage",
+        "closet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_42",
+        "adjacent_rooms": [
+          "0_29",
+          "0_30",
+          "0_36",
+          "0_37",
+          "0_39",
+          "0_40",
+          "0_41",
+          "0_64"
+        ],
+        "correct_answer_room": "0_40",
+        "all_options": [
+          "garage",
+          "closet",
+          "hallway"
+        ],
+        "context_rooms": "stairs, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 35,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 35,
+        "current_room": "rec/game",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "rec/game",
+          "stairs",
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "hallway",
+          "other room",
+          "rec/game",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "rec/game"
+        ]
+      }
+    }
+  ],
+  "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) bedroom (C) tv",
+    "answer": "B",
+    "options": [
+      "toilet",
+      "bedroom",
+      "tv"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bedroom",
+      "all_options": [
+        "toilet",
+        "bedroom",
+        "tv"
+      ],
+      "query_timestep_internal": 27,
+      "rooms_visited": [
+        "bathroom",
+        "bedroom",
+        "closet",
+        "hallway",
+        "other room",
+        "rec/game",
+        "stairs"
+      ]
+    }
+  }
+}

train/000399/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 399,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the stairs, before you reach them turn right and go through the doorway. Walk into the bedroom and turn right and head into the bathroom. ', instruction_tokens=[2584, 2452, 2389, 2222, 281, 2703, 1920, 2393, 2494, 1968, 119, 1067, 2418, 2389, 766, 15, 2584, 1264, 2389, 273, 119, 2494, 1968, 119, 1162, 1264, 2389, 242, 15])",
+  "instruction_text": "Walk towards the stairs, before you reach them turn right and go through the doorway. Walk into the bedroom and turn right and head into the bathroom. ",
+  "num_steps": 89,
+  "total_unique_objects": 215,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 88,
+      "question": "Recall your earlier path. When you passed by the table in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        527
+      ],
+      "metadata": {
+        "probe_object_id": 527,
+        "probe_category": "table",
+        "probe_room": "living room",
+        "probe_region_id": "1_24",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.27367663383483887,
+          3.147779941558838
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+        "agent_position_when_seen": [
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+          0.11554622650146484,
+          -3.068000078201294
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+        "pixel_centroid_x": 252.27722772277227,
+        "normalized_position_x": 0.9709158415841583,
+        "object_pixel_count": 101,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 89
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 88,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        162
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 162,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 162
+      }
+    },
+    {
+      "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) kitchen (B) living room (C) hallway",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "living room",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "hallway"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the picture to the left or right of the plant?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        634,
+        641
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+      "metadata": {
+        "object_A_id": 634,
+        "object_A_category": "plant",
+        "object_A_position": [
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+        "object_B_id": 641,
+        "object_B_category": "picture",
+        "object_B_position": [
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+          1.4878298044204712,
+          -1.0446698665618896
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.11554622650146484,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "You are currently in the hallway, and you can see the kitchen, bedroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) workout/gym/exercise (B) familyroom/lounge (C) closet",
+      "answer": "C",
+      "options": [
+        "workout/gym/exercise",
+        "familyroom/lounge",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_29",
+        "adjacent_rooms": [
+          "1_14",
+          "1_16",
+          "1_17",
+          "1_18",
+          "1_19",
+          "1_20",
+          "1_23",
+          "1_24",
+          "1_25",
+          "1_31",
+          "1_32",
+          "1_47"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "workout/gym/exercise",
+          "familyroom/lounge",
+          "closet"
+        ],
+        "context_rooms": "kitchen, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 43,
+      "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": 43,
+        "current_room": "hallway",
+        "landmark_room": "closet",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 35,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) porch/terrace/deck (C) hallway",
+    "answer": "C",
+    "options": [
+      "bathroom",
+      "porch/terrace/deck",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "bathroom",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "query_timestep_internal": 35,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

train/000408/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 408,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/i5noydFURQK/i5noydFURQK.glb",
+  "instruction": "InstructionData(instruction_text='exit bathroom, stop in closet doorway. ', instruction_tokens=[888, 242, 2278, 1237, 521, 766, 15])",
+  "instruction_text": "exit bathroom, stop in closet doorway. ",
+  "num_steps": 45,
+  "total_unique_objects": 27,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 44,
+      "question": "Recall your earlier path. When you passed by the plant in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        192
+      ],
+      "metadata": {
+        "probe_object_id": 192,
+        "probe_category": "plant",
+        "probe_room": "living room",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
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+          -2.6394801139831543,
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+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 144.97755102040816,
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+        "object_pixel_count": 1470,
+        "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 misc before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        174,
+        311
+      ],
+      "metadata": {
+        "object_A_id": 174,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 311,
+        "object_B_category": "misc",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 311,
+        "asked_second_object_id": 174
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 4,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) kitchen (C) bathroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "kitchen",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "office",
+          "kitchen",
+          "bathroom"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 10,
+      "question": "From your current viewpoint, is the cushion to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        176,
+        183
+      ],
+      "metadata": {
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+        "object_A_category": "sofa",
+        "object_A_position": [
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+        "object_B_id": 183,
+        "object_B_category": "cushion",
+        "object_B_position": [
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+          -2.593989849090576,
+          1.0972998142242432
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.18682312965393066,
+          2.6615169048309326
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+        "agent_rotation": [
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+          -0.9970989227294922,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) stairs (B) bedroom (C) dining room",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "bedroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_9"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "dining room"
+        ],
+        "context_rooms": "kitchen, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "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) bathroom (B) stairs (C) living room",
+    "answer": "A",
+    "options": [
+      "bathroom",
+      "stairs",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "bathroom",
+        "stairs",
+        "living room"
+      ],
+      "query_timestep_internal": 12,
+      "rooms_visited": [
+        "bathroom",
+        "bedroom"
+      ]
+    }
+  }
+}

train/000432/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 432,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Exit bathroom, turn left, walk to side of the stair case turn right, walk passed the table on the left and walk to end of the bar and stop. ', instruction_tokens=[888, 242, 2494, 1360, 2584, 2438, 2121, 1605, 2389, 2219, 441, 2494, 1968, 2584, 1725, 2389, 2342, 1613, 2389, 1360, 119, 2584, 2438, 851, 1605, 2389, 217, 119, 2278, 15])",
+  "instruction_text": "Exit bathroom, turn left, walk to side of the stair case turn right, walk passed the table on the left and walk to end of the bar and stop. ",
+  "num_steps": 103,
+  "total_unique_objects": 286,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 102,
+      "question": "Recall your earlier path. When you passed by the table in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        252
+      ],
+      "metadata": {
+        "probe_object_id": 252,
+        "probe_category": "table",
+        "probe_room": "living room",
+        "probe_region_id": "0_14",
+        "first_seen_timestep": 49,
+        "best_view_timestep": 49,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          -0.8622121810913086,
+          4.487760066986084
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+        "agent_position_when_seen": [
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+          -1.0843499898910522,
+          10.356610298156738
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+        "pixel_centroid_x": 18.00925925925926,
+        "normalized_position_x": -0.859302662037037,
+        "object_pixel_count": 108,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 103
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 102,
+      "question": "Along your path, did you see the  before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        140
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 14,
+        "object_B_id": 140,
+        "object_B_category": "bed",
+        "object_B_timestep": 18,
+        "time_gap": 4,
+        "asked_first_object_id": 19,
+        "asked_second_object_id": 140
+      }
+    },
+    {
+      "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) dining room (B) toilet (C) stairs",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "toilet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "dining room",
+          "toilet",
+          "stairs"
+        ],
+        "query_timestep_internal": 55,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the picture to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        302,
+        318
+      ],
+      "metadata": {
+        "object_A_id": 302,
+        "object_A_category": "counter",
+        "object_A_position": [
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+        "object_B_category": "picture",
+        "object_B_position": [
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+          0.5691022872924805,
+          14.077199935913086
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+        "agent_position": [
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+          0.07852078974246979,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the balcony you see now directly connected to? (A) dining room (B) living room (C) bathroom",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_6",
+        "adjacent_rooms": [
+          "1_11",
+          "1_5"
+        ],
+        "correct_answer_room": "1_11",
+        "all_options": [
+          "dining room",
+          "living room",
+          "bathroom"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "dining room",
+          "kitchen",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 8,
+    "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": 8,
+      "current_room": "bathroom",
+      "landmark_room": "hallway",
+      "final_room": "familyroom/lounge",
+      "remaining_rooms": [
+        "bathroom",
+        "hallway",
+        "dining room",
+        "kitchen",
+        "familyroom/lounge"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "dining room",
+        "familyroom/lounge",
+        "hallway",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "bathroom"
+      ]
+    }
+  }
+}

train/000447/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 447,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5LpN3gDmAk7/5LpN3gDmAk7.glb",
+  "instruction": "InstructionData(instruction_text='Exit the kitchen by walking past the ovens and then head right, stopping just at the doorway leading to the patio outside. ', instruction_tokens=[888, 2389, 1306, 404, 2588, 1728, 2389, 1668, 119, 2394, 1162, 1968, 2279, 1293, 178, 2389, 766, 1349, 2438, 2389, 1737, 1665, 15])",
+  "instruction_text": "Exit the kitchen by walking past the ovens and then head right, stopping just at the doorway leading to the patio outside. ",
+  "num_steps": 46,
+  "total_unique_objects": 294,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the sofa in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        320
+      ],
+      "metadata": {
+        "probe_object_id": 320,
+        "probe_category": "sofa",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_19",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 9,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
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+          -0.7883310317993164,
+          12.991299629211426
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+        "agent_position_when_seen": [
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+          -1.0843499898910522,
+          14.221230506896973
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+        "pixel_centroid_x": 202.83802816901408,
+        "normalized_position_x": 0.5846720950704225,
+        "object_pixel_count": 142,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 46
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 45,
+      "question": "Along your path, did you see the sofa before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        24
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "sofa",
+        "object_A_timestep": 2,
+        "object_B_id": 24,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 43,
+        "asked_second_object_id": 24
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 36,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) bar (C) kitchen",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "bar",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "porch/terrace/deck",
+          "bar",
+          "kitchen"
+        ],
+        "query_timestep_internal": 36,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 12,
+      "question": "From your current viewpoint, is the counter to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        236,
+        302
+      ],
+      "metadata": {
+        "object_A_id": 236,
+        "object_A_category": "stairs",
+        "object_A_position": [
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+          0.7938517928123474,
+          8.900419235229492
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+        "object_B_id": 302,
+        "object_B_category": "counter",
+        "object_B_position": [
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+          -0.6652851104736328,
+          12.072400093078613
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+        "spatial_relation": "right",
+        "agent_position": [
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) laundryroom/mudroom (B) dining room (C) bathroom",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_22",
+        "adjacent_rooms": [
+          "0_14",
+          "0_18",
+          "0_19",
+          "0_20",
+          "0_21"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "laundryroom/mudroom",
+          "dining room",
+          "bathroom"
+        ],
+        "context_rooms": "living room, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "kitchen",
+        "landmark_room": "dining room",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 14,
+    "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) porch/terrace/deck (B) laundryroom/mudroom (C) closet",
+    "answer": "A",
+    "options": [
+      "porch/terrace/deck",
+      "laundryroom/mudroom",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_14",
+      "adjacent_rooms": [
+        "0_20",
+        "0_21",
+        "0_22",
+        "0_26",
+        "0_27"
+      ],
+      "correct_answer_room": "0_22",
+      "all_options": [
+        "porch/terrace/deck",
+        "laundryroom/mudroom",
+        "closet"
+      ],
+      "context_rooms": "dining room, lounge"
+    }
+  }
+}

train/000448/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 448,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text='leave bedroom in to hall, turn slight left. continute down hall straight and enter living room, stop behind the couch. ', instruction_tokens=[1355, 273, 1237, 2438, 1121, 2494, 2162, 1360, 15, 573, 780, 1121, 2288, 119, 860, 1404, 1994, 2278, 285, 2389, 593, 15])",
+  "instruction_text": "leave bedroom in to hall, turn slight left. continute down hall straight and enter living room, stop behind the couch. ",
+  "num_steps": 51,
+  "total_unique_objects": 271,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        214
+      ],
+      "metadata": {
+        "probe_object_id": 214,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 5,
+        "best_view_timestep": 5,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          3.7686102390289307
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+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 215.78504672897196,
+        "normalized_position_x": 0.6858206775700935,
+        "object_pixel_count": 107,
+        "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 towel before or after the picture?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        41,
+        66
+      ],
+      "metadata": {
+        "object_A_id": 41,
+        "object_A_category": "picture",
+        "object_A_timestep": 0,
+        "object_B_id": 66,
+        "object_B_category": "towel",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 66,
+        "asked_second_object_id": 41
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) closet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "closet"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 15,
+      "question": "From your current viewpoint, is the chair in front of or behind the objects?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        171,
+        170
+      ],
+      "metadata": {
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+        "object_A_category": "objects",
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+          0.8327651023864746,
+          3.767270088195801
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+        "object_B_id": 170,
+        "object_B_category": "chair",
+        "object_B_position": [
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+          0.5616998672485352,
+          3.1452698707580566
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+        "spatial_relation": "behind",
+        "agent_position": [
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+          0.09358400106430054,
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 24,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) closet (C) lounge",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "closet",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_14",
+          "0_16",
+          "0_18",
+          "0_19",
+          "0_2",
+          "0_3",
+          "0_5",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_14",
+        "all_options": [
+          "bedroom",
+          "closet",
+          "lounge"
+        ],
+        "context_rooms": "hallway, familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "hallway",
+        "landmark_room": "living room",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "hallway",
+          "living room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
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+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_11",
+          "1_12",
+          "1_14",
+          "1_21"
+        ],
+        "correct_answer_room": "1_12",
+        "all_options": [
+          "rec/game",
+          "stairs",
+          "bathroom"
+        ],
+        "context_rooms": "bedroom, laundryroom/mudroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "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": 17,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "living room",
+          "kitchen",
+          "hallway",
+          "kitchen"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 104,
+    "question": "Recall your earlier path. When you passed by the objects in the living room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      603
+    ],
+    "metadata": {
+      "probe_object_id": 603,
+      "probe_category": "objects",
+      "probe_room": "living room",
+      "probe_region_id": "1_29",
+      "first_seen_timestep": 6,
+      "best_view_timestep": 8,
+      "num_sightings": 3,
+      "spatial_relation": "left",
+      "object_position": [
+        -0.6515740156173706,
+        0.9098429679870605,
+        -6.885109901428223
+      ],
+      "agent_position_when_seen": [
+        -9.507309913635254,
+        0.011268138885498047,
+        -1.148550033569336
+      ],
+      "pixel_centroid_x": 134.18548387096774,
+      "normalized_position_x": 0.0483240927419355,
+      "object_pixel_count": 124,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 105
+    }
+  }
+}

train/000514/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 514,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Leave bathroom and continue straight in hall, turn slight left into sitting room, turn left into dining room and stop at table. ', instruction_tokens=[1355, 242, 119, 569, 2288, 1237, 1121, 2494, 2162, 1360, 1264, 2139, 1994, 2494, 1360, 1264, 711, 1994, 119, 2278, 178, 2342, 15])",
+  "instruction_text": "Leave bathroom and continue straight in hall, turn slight left into sitting room, turn left into dining room and stop at table. ",
+  "num_steps": 51,
+  "total_unique_objects": 329,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        741
+      ],
+      "metadata": {
+        "probe_object_id": 741,
+        "probe_category": "tv_monitor",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_27",
+        "first_seen_timestep": 42,
+        "best_view_timestep": 45,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          19.749000549316406,
+          -3.0007901191711426,
+          -0.5965471267700195
+        ],
+        "agent_position_when_seen": [
+          5.876842975616455,
+          0.13123798370361328,
+          12.413311958312988
+        ],
+        "pixel_centroid_x": 234.3050847457627,
+        "normalized_position_x": 0.8305084745762712,
+        "object_pixel_count": 118,
+        "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 shelving before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        186,
+        389
+      ],
+      "metadata": {
+        "object_A_id": 186,
+        "object_A_category": "",
+        "object_A_timestep": 11,
+        "object_B_id": 389,
+        "object_B_category": "shelving",
+        "object_B_timestep": 22,
+        "time_gap": 11,
+        "asked_first_object_id": 389,
+        "asked_second_object_id": 186
+      }
+    },
+    {
+      "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) stairs (B) bedroom (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 47,
+      "question": "From your current viewpoint, is the curtain to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        573,
+        564
+      ],
+      "metadata": {
+        "object_A_id": 573,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -1.6650099754333496,
+          -3.090409755706787,
+          -1.88869047164917
+        ],
+        "object_B_id": 564,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          0.5847910642623901,
+          -1.8725800514221191,
+          -0.49367403984069824
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
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+          0.13123798370361328,
+          12.413311958312988
+        ],
+        "agent_rotation": [
+          0.9999394416809082,
+          0.0,
+          -0.011008873581886292,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the meetingroom/conferenceroom you see now directly connected to? (A) entryway/foyer/lobby (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_12",
+          "1_14",
+          "1_7"
+        ],
+        "correct_answer_room": "1_14",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "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": 21,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "familyroom/lounge",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 50,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) kitchen (B) bedroom (C) meetingroom/conferenceroom",
+    "answer": "C",
+    "options": [
+      "kitchen",
+      "bedroom",
+      "meetingroom/conferenceroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_12",
+      "adjacent_rooms": [
+        "1_13",
+        "1_14"
+      ],
+      "correct_answer_room": "1_13",
+      "all_options": [
+        "kitchen",
+        "bedroom",
+        "meetingroom/conferenceroom"
+      ],
+      "context_rooms": "hallway"
+    }
+  }
+}

train/000517/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 517,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
+  "instruction": "InstructionData(instruction_text='Go through the open doorway near the bed. continue through the bathroom until you reach the thermostat near the shower. ', instruction_tokens=[1067, 2418, 2389, 1625, 766, 1563, 2389, 267, 15, 569, 2418, 2389, 242, 2524, 2703, 1920, 2389, 2397, 1563, 2389, 2110, 15])",
+  "instruction_text": "Go through the open doorway near the bed. continue through the bathroom until you reach the thermostat near the shower. ",
+  "num_steps": 46,
+  "total_unique_objects": 141,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "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": [
+        158
+      ],
+      "metadata": {
+        "probe_object_id": 158,
+        "probe_category": "table",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 16,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -9.594779968261719,
+          0.1968369483947754,
+          1.2596999406814575
+        ],
+        "agent_position_when_seen": [
+          -9.318618774414062,
+          0.07244700193405151,
+          1.668264627456665
+        ],
+        "pixel_centroid_x": 18.57943925233645,
+        "normalized_position_x": -0.8548481308411215,
+        "object_pixel_count": 321,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 46
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 45,
+      "question": "Along your path, did you see the clothes before or after the sink?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        34
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "sink",
+        "object_A_timestep": 7,
+        "object_B_id": 34,
+        "object_B_category": "clothes",
+        "object_B_timestep": 10,
+        "time_gap": 3,
+        "asked_first_object_id": 34,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "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) toilet (B) living room (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "living room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "toilet",
+          "living room",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 41,
+      "question": "From your current viewpoint, is the objects in front of or behind the toilet?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        54,
+        39
+      ],
+      "metadata": {
+        "object_A_id": 54,
+        "object_A_category": "toilet",
+        "object_A_position": [
+          -3.7141499519348145,
+          0.6006879806518555,
+          1.1967699527740479
+        ],
+        "object_B_id": 39,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -4.6351399421691895,
+          0.19241201877593994,
+          1.1433099508285522
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          -5.809830665588379,
+          0.07244700193405151,
+          0.20306402444839478
+        ],
+        "agent_rotation": [
+          -0.749295175075531,
+          0.0,
+          0.662236213684082,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 37,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) living room (B) bathroom (C) toilet",
+      "answer": "A",
+      "options": [
+        "living room",
+        "bathroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_4",
+          "0_6",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "living room",
+          "bathroom",
+          "toilet"
+        ],
+        "context_rooms": "tv, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the tv on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "tv",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 45,
+    "question": "Along your path, did you see the sink before or after the clothes?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      28,
+      34
+    ],
+    "metadata": {
+      "object_A_id": 28,
+      "object_A_category": "sink",
+      "object_A_timestep": 7,
+      "object_B_id": 34,
+      "object_B_category": "clothes",
+      "object_B_timestep": 10,
+      "time_gap": 3,
+      "asked_first_object_id": 28,
+      "asked_second_object_id": 34
+    }
+  }
+}

train/000532/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 532,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn around until you face the door. Move next to the sink, then angle slightly right and move to the open door frame. When you're standing in it, angle slightly right again and move toward the bed. Turn to the right, and move towards the first open door you see, moving into it. Make another slight right, continuing towards the open white door you see and moving straight through the door. Stop and wait halfway to the next door, just before the mirror and dresser. \", instruction_tokens=[2494, 159, 2524, 2703, 903, 2389, 757, 15, 1537, 1576, 2438, 2389, 2132, 2394, 122, 2164, 1968, 119, 1537, 2438, 2389, 1625, 757, 1006, 15, 2632, 2703, 9, 1918, 2236, 1237, 1272, 122, 2164, 1968, 95, 119, 1537, 2451, 2389, 267, 15, 2494, 2438, 2389, 1968, 119, 1537, 2452, 2389, 946, 1625, 757, 2703, 2059, 1540, 1264, 1272, 15, 1446, 126, 2162, 1968, 572, 2452, 2389, 1625, 2637, 757, 2703, 2059, 119, 1540, 2288, 2418, 2389, 757, 15, 2278, 119, 2579, 1120, 2438, 2389, 1576, 757, 1293, 281, 2389, 1515, 119, 797, 15])",
+  "instruction_text": "Turn around until you face the door. Move next to the sink, then angle slightly right and move to the open door frame. When you're standing in it, angle slightly right again and move toward the bed. Turn to the right, and move towards the first open door you see, moving into it. Make another slight right, continuing towards the open white door you see and moving straight through the door. Stop and wait halfway to the next door, just before the mirror and dresser. ",
+  "num_steps": 52,
+  "total_unique_objects": 111,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "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": [
+        231
+      ],
+      "metadata": {
+        "probe_object_id": 231,
+        "probe_category": "counter",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          1.3157801628112793,
+          -2.5453100204467773,
+          -2.455249786376953
+        ],
+        "agent_position_when_seen": [
+          -2.0582547187805176,
+          0.3000051975250244,
+          0.2703208923339844
+        ],
+        "pixel_centroid_x": 21.04901960784314,
+        "normalized_position_x": -0.8355545343137255,
+        "object_pixel_count": 204,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 52
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 51,
+      "question": "Along your path, did you see the curtain before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        44,
+        187
+      ],
+      "metadata": {
+        "object_A_id": 44,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 187,
+        "object_B_category": "curtain",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 187,
+        "asked_second_object_id": 44
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) bedroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "bedroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "porch/terrace/deck",
+          "bedroom",
+          "stairs"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the chair to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        406,
+        199
+      ],
+      "metadata": {
+        "object_A_id": 406,
+        "object_A_category": "bed",
+        "object_A_position": [
+          -6.486289978027344,
+          0.58685302734375,
+          -1.9433698654174805
+        ],
+        "object_B_id": 199,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -6.240920066833496,
+          -2.646409749984741,
+          -0.7081100940704346
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.467708110809326,
+          0.3000051975250244,
+          0.32556286454200745
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+        "agent_rotation": [
+          -0.7051289081573486,
+          0.0,
+          -0.7090791463851929,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 50,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) kitchen (C) living room",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "kitchen",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_15",
+        "adjacent_rooms": [
+          "1_16",
+          "1_18"
+        ],
+        "correct_answer_room": "1_18",
+        "all_options": [
+          "bathroom",
+          "kitchen",
+          "living room"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 46,
+    "question": "You are currently in the hallway, and you can see the bedroom, bathroom. Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) bedroom (B) porch/terrace/deck (C) kitchen",
+    "answer": "A",
+    "options": [
+      "bedroom",
+      "porch/terrace/deck",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_11",
+      "adjacent_rooms": [
+        "1_12",
+        "1_13",
+        "1_14",
+        "1_16",
+        "1_17",
+        "1_9"
+      ],
+      "correct_answer_room": "1_14",
+      "all_options": [
+        "bedroom",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "context_rooms": "bedroom, bathroom"
+    }
+  }
+}

train/000592/meta.json

@@ -0,0 +1,224 @@
+{
+  "episode_id": 592,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the stairs and take your first left. Go straight and enter the office at the end of the hall. Stop in the doorway to the office. ', instruction_tokens=[2584, 2452, 2389, 2222, 119, 2352, 2706, 946, 1360, 15, 1067, 2288, 119, 860, 2389, 1607, 178, 2389, 851, 1605, 2389, 1121, 15, 2278, 1237, 2389, 766, 2438, 2389, 1607, 15])",
+  "instruction_text": "Walk towards the stairs and take your first left. Go straight and enter the office at the end of the hall. Stop in the doorway to the office. ",
+  "num_steps": 28,
+  "total_unique_objects": 78,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 27,
+      "question": "Recall your earlier path. When you passed by the table in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        44
+      ],
+      "metadata": {
+        "probe_object_id": 44,
+        "probe_category": "table",
+        "probe_room": "dining room",
+        "probe_region_id": "2_1",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 16,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          6.892910003662109,
+          3.6056299209594727,
+          -1.4721996784210205
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+        "agent_position_when_seen": [
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+          -3.3965749740600586,
+          -2.3878672122955322
+        ],
+        "pixel_centroid_x": 237.04091341579448,
+        "normalized_position_x": 0.8518821360608944,
+        "object_pixel_count": 1051,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 28
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 27,
+      "question": "Along your path, did you see the shelving before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        12
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 12,
+        "object_B_category": "",
+        "object_B_timestep": 16,
+        "time_gap": 16,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 12
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 5,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) toilet (C) other room",
+      "answer": "C",
+      "options": [
+        "closet",
+        "toilet",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "closet",
+          "toilet",
+          "other room"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 17,
+      "question": "From your current viewpoint, is the picture to the left or right of the objects?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        49,
+        50
+      ],
+      "metadata": {
+        "object_A_id": 49,
+        "object_A_category": "objects",
+        "object_A_position": [
+          4.6739301681518555,
+          3.96090030670166,
+          -1.4142799377441406
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+        "object_B_id": 50,
+        "object_B_category": "picture",
+        "object_B_position": [
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+          4.622150421142578,
+          -4.663949966430664
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
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+          -3.3965749740600586,
+          -2.501491069793701
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+        "agent_rotation": [
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+          0.5222570896148682,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) hallway (B) familyroom/lounge (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_10",
+        "adjacent_rooms": [
+          "1_11"
+        ],
+        "correct_answer_room": "1_11",
+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "other room"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "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": 14,
+        "current_room": "other room",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 27,
+    "question": "Along your path, did you see the  before or after the shelving?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      4,
+      12
+    ],
+    "metadata": {
+      "object_A_id": 4,
+      "object_A_category": "shelving",
+      "object_A_timestep": 0,
+      "object_B_id": 12,
+      "object_B_category": "",
+      "object_B_timestep": 16,
+      "time_gap": 16,
+      "asked_first_object_id": 12,
+      "asked_second_object_id": 4
+    }
+  }
+}

train/000629/meta.json

@@ -0,0 +1,249 @@
+{
+  "episode_id": 629,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text=\"Go straight and then turn left and go out of the bathroom.  Go past the workout material and turn left.  You'll be in a massage room.  Wait at the base of the masseuse tables. \", instruction_tokens=[1067, 2288, 119, 2394, 2494, 1360, 119, 1067, 1658, 1605, 2389, 242, 15, 1067, 1728, 2389, 2680, 1478, 119, 2494, 1360, 15, 2703, 9, 1406, 252, 1237, 73, 1472, 1994, 15, 2579, 178, 2389, 233, 1605, 2389, 1473, 2347, 15])",
+  "instruction_text": "Go straight and then turn left and go out of the bathroom.  Go past the workout material and turn left.  You'll be in a massage room.  Wait at the base of the masseuse tables. ",
+  "num_steps": 61,
+  "total_unique_objects": 209,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "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": [
+        191
+      ],
+      "metadata": {
+        "probe_object_id": 191,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_14",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 4,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.098560094833374,
+          1.180410385131836,
+          -5.386489391326904
+        ],
+        "agent_position_when_seen": [
+          1.0510799884796143,
+          0.09863299131393433,
+          -10.089300155639648
+        ],
+        "pixel_centroid_x": 192.68965517241378,
+        "normalized_position_x": 0.5053879310344827,
+        "object_pixel_count": 116,
+        "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 bed before or after the counter?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        88
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 88,
+        "object_B_category": "counter",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 88
+      }
+    },
+    {
+      "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) workout/gym/exercise (B) other room (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "workout/gym/exercise",
+        "other room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "workout/gym/exercise",
+          "other room",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 45,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna",
+          "utilityroom/toolroom",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the counter?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        182,
+        178
+      ],
+      "metadata": {
+        "object_A_id": 182,
+        "object_A_category": "counter",
+        "object_A_position": [
+          7.32213020324707,
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+          -2.868040084838867
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+        "object_B_id": 178,
+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          1.4687199592590332,
+          -3.5299301147460938
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+        "spatial_relation": "left",
+        "agent_position": [
+          1.2740672826766968,
+          0.09863299131393433,
+          -7.998047828674316
+        ],
+        "agent_rotation": [
+          0.379162073135376,
+          0.0,
+          -0.9253303408622742,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) spa/sauna (B) utilityroom/toolroom (C) other room",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "utilityroom/toolroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_13",
+        "all_options": [
+          "spa/sauna",
+          "utilityroom/toolroom",
+          "other room"
+        ],
+        "context_rooms": "entryway/foyer/lobby, workout/gym/exercise"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "hallway",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "hallway",
+          "workout/gym/exercise",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna",
+          "utilityroom/toolroom",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 30,
+    "question": "From your current viewpoint, is the counter to the left or right of the railing?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      147,
+      182
+    ],
+    "metadata": {
+      "object_A_id": 147,
+      "object_A_category": "railing",
+      "object_A_position": [
+        3.9287099838256836,
+        1.588479995727539,
+        -0.6220669746398926
+      ],
+      "object_B_id": 182,
+      "object_B_category": "counter",
+      "object_B_position": [
+        7.32213020324707,
+        0.6709690093994141,
+        -2.868040084838867
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        2.0913503170013428,
+        0.09863299131393433,
+        -7.399106502532959
+      ],
+      "agent_rotation": [
+        0.379162073135376,
+        0.0,
+        -0.9253302812576294,
+        0.0
+      ]
+    }
+  }
+}