Add files using upload-large-folder tool

train/000122/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 122,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk into the dining room. Take a right. Take a left after the table and wait in the doorway. ', instruction_tokens=[2494, 159, 119, 2584, 1264, 2389, 711, 1994, 15, 2352, 73, 1968, 15, 2352, 73, 1360, 94, 2389, 2342, 119, 2579, 1237, 2389, 766, 15])",
+  "instruction_text": "Turn around and walk into the dining room. Take a right. Take a left after the table and wait in the doorway. ",
+  "num_steps": 68,
+  "total_unique_objects": 330,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        713
+      ],
+      "metadata": {
+        "probe_object_id": 713,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_26",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 33,
+        "num_sightings": 40,
+        "spatial_relation": "right",
+        "object_position": [
+          9.764710426330566,
+          -1.779059886932373,
+          -2.5691299438476562
+        ],
+        "agent_position_when_seen": [
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+          0.13123798370361328,
+          6.539037704467773
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+        "pixel_centroid_x": 196.31197257383965,
+        "normalized_position_x": 0.5336872857331223,
+        "object_pixel_count": 3792,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 68
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 67,
+      "question": "Along your path, did you see the table before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        450
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 450,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 450
+      }
+    },
+    {
+      "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) tv (B) office (C) dining room",
+      "answer": "C",
+      "options": [
+        "tv",
+        "office",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "tv",
+          "office",
+          "dining room"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "dining room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 5,
+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        566,
+        564
+      ],
+      "metadata": {
+        "object_A_id": 566,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          1.9159700870513916,
+          -3.1405200958251953,
+          -1.5950398445129395
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+        "object_B_id": 564,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          0.5847910642623901,
+          -1.8725800514221191,
+          -0.49367403984069824
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          11.234546661376953,
+          0.13123798370361328,
+          11.008382797241211
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+        "agent_rotation": [
+          0.7217317819595337,
+          0.0,
+          0.6921728849411011,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 2,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) kitchen (C) living room",
+    "answer": "A",
+    "options": [
+      "dining room",
+      "kitchen",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "dining room",
+      "all_options": [
+        "dining room",
+        "kitchen",
+        "living room"
+      ],
+      "query_timestep_internal": 2,
+      "rooms_visited": [
+        "dining room"
+      ]
+    }
+  }
+}

train/000178/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 178,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the room and turn left. walk into the garage and stop on the mat. ', instruction_tokens=[2584, 1658, 1605, 2389, 1994, 119, 2494, 1360, 15, 2584, 1264, 2389, 1037, 119, 2278, 1613, 2389, 1476, 15])",
+  "instruction_text": "Walk out of the room and turn left. walk into the garage and stop on the mat. ",
+  "num_steps": 37,
+  "total_unique_objects": 158,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 36,
+      "question": "Recall your earlier path. When you passed by the mirror in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        369
+      ],
+      "metadata": {
+        "probe_object_id": 369,
+        "probe_category": "mirror",
+        "probe_room": "dining room",
+        "probe_region_id": "0_14",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 18,
+        "num_sightings": 14,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.7127299308776855,
+          1.570930004119873,
+          5.42195987701416
+        ],
+        "agent_position_when_seen": [
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+          0.04283595085144043,
+          -2.757279634475708
+        ],
+        "pixel_centroid_x": 187.94799054373522,
+        "normalized_position_x": 0.4683436761229314,
+        "object_pixel_count": 846,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 37
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 36,
+      "question": "Along your path, did you see the cabinet before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        324,
+        32
+      ],
+      "metadata": {
+        "object_A_id": 324,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 32,
+        "object_B_category": "",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 324,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) kitchen (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "kitchen",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "kitchen",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 14,
+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        363,
+        359
+      ],
+      "metadata": {
+        "object_A_id": 363,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -3.664489984512329,
+          0.611003041267395,
+          0.08238357305526733
+        ],
+        "object_B_id": 359,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          -2.5490500926971436,
+          1.7869398593902588,
+          5.386580467224121
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -9.370857238769531,
+          0.1349172294139862,
+          -2.7931203842163086
+        ],
+        "agent_rotation": [
+          0.7785769701004028,
+          0.0,
+          -0.6275492310523987,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) outdoor (C) dining room",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "outdoor",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_20",
+        "adjacent_rooms": [
+          "0_11",
+          "0_17",
+          "0_19",
+          "0_24"
+        ],
+        "correct_answer_room": "0_24",
+        "all_options": [
+          "bedroom",
+          "outdoor",
+          "dining room"
+        ],
+        "context_rooms": "garage, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "question": "From your current position, will you pass through the other room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "bedroom",
+        "landmark_room": "other room",
+        "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 36,
+    "question": "Along your path, did you see the cabinet before or after the ?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      324,
+      32
+    ],
+    "metadata": {
+      "object_A_id": 324,
+      "object_A_category": "cabinet",
+      "object_A_timestep": 0,
+      "object_B_id": 32,
+      "object_B_category": "",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 324,
+      "asked_second_object_id": 32
+    }
+  }
+}

train/000305/meta.json

@@ -0,0 +1,252 @@
+{
+  "episode_id": 305,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Enter the building and go up the steps on the far left. Wait at the top of the steps in the bedroom. ', instruction_tokens=[860, 2389, 381, 119, 1067, 2527, 2389, 2265, 1613, 2389, 914, 1360, 15, 2579, 178, 2389, 2444, 1605, 2389, 2265, 1237, 2389, 273, 15])",
+  "instruction_text": "Enter the building and go up the steps on the far left. Wait at the top of the steps in the bedroom. ",
+  "num_steps": 101,
+  "total_unique_objects": 216,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 100,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6
+      ],
+      "metadata": {
+        "probe_object_id": 6,
+        "probe_category": "tv_monitor",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 71,
+        "best_view_timestep": 88,
+        "num_sightings": 17,
+        "spatial_relation": "right",
+        "object_position": [
+          9.48727035522461,
+          1.8121497631072998,
+          -2.795769691467285
+        ],
+        "agent_position_when_seen": [
+          7.007117748260498,
+          0.2664876878261566,
+          2.613452196121216
+        ],
+        "pixel_centroid_x": 119.50381679389314,
+        "normalized_position_x": -0.06637643129770987,
+        "object_pixel_count": 262,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 101
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 100,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        191
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 191,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 191,
+        "asked_second_object_id": 2
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 24,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) familyroom/lounge (C) outdoor",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "outdoor"
+        ],
+        "query_timestep_internal": 24,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 63,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        305,
+        13
+      ],
+      "metadata": {
+        "object_A_id": 305,
+        "object_A_category": "chair",
+        "object_A_position": [
+          6.045740127563477,
+          0.5268840789794922,
+          5.914649963378906
+        ],
+        "object_B_id": 13,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          5.675930023193359,
+          1.2941399812698364,
+          -1.3977199792861938
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          7.877104759216309,
+          0.20572906732559204,
+          5.627531051635742
+        ],
+        "agent_rotation": [
+          -0.8696572780609131,
+          0.0,
+          -0.4936560392379761,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) familyroom/lounge (B) bathroom (C) outdoor",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "bathroom",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_12",
+          "0_14",
+          "0_20",
+          "0_23",
+          "0_3",
+          "0_30"
+        ],
+        "correct_answer_room": "0_30",
+        "all_options": [
+          "familyroom/lounge",
+          "bathroom",
+          "outdoor"
+        ],
+        "context_rooms": "stairs, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 33,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 33,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "living room",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "kitchen",
+          "stairs",
+          "kitchen",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "familyroom/lounge",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 100,
+    "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      6
+    ],
+    "metadata": {
+      "probe_object_id": 6,
+      "probe_category": "tv_monitor",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_0",
+      "first_seen_timestep": 71,
+      "best_view_timestep": 88,
+      "num_sightings": 17,
+      "spatial_relation": "right",
+      "object_position": [
+        9.48727035522461,
+        1.8121497631072998,
+        -2.795769691467285
+      ],
+      "agent_position_when_seen": [
+        7.007117748260498,
+        0.2664876878261566,
+        2.613452196121216
+      ],
+      "pixel_centroid_x": 119.50381679389314,
+      "normalized_position_x": -0.06637643129770987,
+      "object_pixel_count": 262,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 101
+    }
+  }
+}

train/000306/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 306,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn around and go into the house.  Walk past the red chair and turn left and go into the kitchen area.  Then turn right and go up the stairs.  When you get to the top, go on into the room where there's a bed and a couple of red reclining chaises.  Wait there by the chaise. \", instruction_tokens=[2494, 159, 119, 1067, 1264, 2389, 1213, 15, 2584, 1728, 2389, 1939, 457, 119, 2494, 1360, 119, 1067, 1264, 2389, 1306, 150, 15, 2394, 2494, 1968, 119, 1067, 2527, 2389, 2222, 15, 2632, 2703, 1046, 2438, 2389, 2444, 1067, 1613, 1264, 2389, 1994, 2633, 2395, 9, 2018, 73, 267, 119, 73, 606, 1605, 1939, 1934, 460, 15, 2579, 2395, 404, 2389, 459, 15])",
+  "instruction_text": "Turn around and go into the house.  Walk past the red chair and turn left and go into the kitchen area.  Then turn right and go up the stairs.  When you get to the top, go on into the room where there's a bed and a couple of red reclining chaises.  Wait there by the chaise. ",
+  "num_steps": 101,
+  "total_unique_objects": 216,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 100,
+      "question": "Recall your earlier path. When you passed by the bathtub in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        185
+      ],
+      "metadata": {
+        "probe_object_id": 185,
+        "probe_category": "bathtub",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_16",
+        "first_seen_timestep": 83,
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+        "num_sightings": 9,
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+        "object_position": [
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 101
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 100,
+      "question": "Along your path, did you see the objects before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        191
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 191,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 191,
+        "asked_second_object_id": 2
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) living room (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "living room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "hallway",
+          "living room",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 83,
+      "question": "From your current viewpoint, is the appliances to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        13,
+        28
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+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "cabinet",
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+        "object_B_category": "appliances",
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+          1.9559197425842285,
+          1.1266202926635742
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+          3.575491189956665
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+          0.0,
+          0.1377701461315155,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 63,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) hallway (B) spa/sauna (C) outdoor",
+      "answer": "C",
+      "options": [
+        "hallway",
+        "spa/sauna",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_16",
+          "0_20",
+          "0_29",
+          "0_3",
+          "0_30",
+          "0_5"
+        ],
+        "correct_answer_room": "0_29",
+        "all_options": [
+          "hallway",
+          "spa/sauna",
+          "outdoor"
+        ],
+        "context_rooms": "stairs, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 47,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 47,
+        "current_room": "stairs",
+        "landmark_room": "living room",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "stairs",
+          "kitchen",
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "familyroom/lounge",
+          "kitchen",
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 17,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bathroom (C) familyroom/lounge",
+    "answer": "C",
+    "options": [
+      "hallway",
+      "bathroom",
+      "familyroom/lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "hallway",
+        "bathroom",
+        "familyroom/lounge"
+      ],
+      "query_timestep_internal": 17,
+      "rooms_visited": [
+        "familyroom/lounge",
+        "kitchen",
+        "living room",
+        "stairs"
+      ]
+    }
+  }
+}

train/000552/meta.json

@@ -0,0 +1,158 @@
+{
+  "episode_id": 552,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and move straight.  Move slightly to left while proceeding forward.  Go straight. ', instruction_tokens=[2494, 1360, 119, 1537, 2288, 15, 1537, 2164, 2438, 1360, 2635, 1879, 993, 15, 1067, 2288, 15])",
+  "instruction_text": "Turn left and move straight.  Move slightly to left while proceeding forward.  Go straight. ",
+  "num_steps": 47,
+  "total_unique_objects": 504,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 46,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+      ],
+      "metadata": {
+        "probe_object_id": 1060,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "1_47",
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 47
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) workout/gym/exercise (B) balcony (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "workout/gym/exercise",
+        "balcony",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "workout/gym/exercise",
+          "balcony",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
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+        935
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+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 0,
+    "question": "From your current viewpoint, is the cabinet to the left or right of the bed?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
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+      "object_B_id": 935,
+      "object_B_category": "cabinet",
+      "object_B_position": [
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+        4.260660171508789,
+        -7.079509735107422
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+      "spatial_relation": "left",
+      "agent_position": [
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+        2.6179721355438232,
+        -18.344600677490234
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+      "agent_rotation": [
+        0.024590175598859787,
+        0.0,
+        -0.9996976256370544,
+        0.0
+      ]
+    }
+  }
+}

train/000590/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 590,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/5q7pvUzZiYa/5q7pvUzZiYa.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the open glass doors nearby Walk through the open door near the potted plant on a side table. Walk past the painting of a guitarist through the open door ahead. Walk into the room which has a sofa and coffee table. ', instruction_tokens=[2584, 2418, 2389, 1625, 1057, 762, 1564, 2584, 2418, 2389, 1625, 757, 1563, 2389, 1864, 1810, 1613, 73, 2121, 2342, 15, 2584, 1728, 2389, 1688, 1605, 73, 1112, 2418, 2389, 1625, 757, 98, 15, 2584, 1264, 2389, 1994, 2634, 1156, 73, 2182, 119, 534, 2342, 15])",
+  "instruction_text": "Walk through the open glass doors nearby Walk through the open door near the potted plant on a side table. Walk past the painting of a guitarist through the open door ahead. Walk into the room which has a sofa and coffee table. ",
+  "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": [
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+          3.6056299209594727,
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+        "agent_position_when_seen": [
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+          -2.3878672122955322
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+        "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": 10,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) other room (C) dining room",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "other room",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "other room",
+        "all_options": [
+          "bedroom",
+          "other room",
+          "dining room"
+        ],
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+        "rooms_visited": [
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the bed to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        71,
+        75
+      ],
+      "metadata": {
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+        "object_A_category": "picture",
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+          3.5638396739959717,
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -3.3965749740600586,
+          -2.6057238578796387
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+          0.0,
+          0.6291003227233887,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 1,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) living room (B) stairs (C) other room",
+      "answer": "B",
+      "options": [
+        "living room",
+        "stairs",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_11",
+        "adjacent_rooms": [
+          "1_10",
+          "1_12",
+          "1_4",
+          "1_6",
+          "1_7",
+          "1_9"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "living room",
+          "stairs",
+          "other room"
+        ],
+        "context_rooms": "bedroom, bedroom"
+      }
+    },
+    {
+      "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": "other room",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "other room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 27,
+    "question": "Recall your earlier path. When you passed by the objects in the dining room, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      49
+    ],
+    "metadata": {
+      "probe_object_id": 49,
+      "probe_category": "objects",
+      "probe_room": "dining room",
+      "probe_region_id": "2_1",
+      "first_seen_timestep": 16,
+      "best_view_timestep": 19,
+      "num_sightings": 8,
+      "spatial_relation": "right",
+      "object_position": [
+        4.6739301681518555,
+        3.96090030670166,
+        -1.4142799377441406
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+      "agent_position_when_seen": [
+        6.771595001220703,
+        -3.3965749740600586,
+        -2.55360746383667
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+      "pixel_centroid_x": 189.4145588235294,
+      "normalized_position_x": 0.47980124080882347,
+      "object_pixel_count": 6800,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 28
+    }
+  }
+}

train/000691/meta.json

@@ -0,0 +1,121 @@
+{
+  "episode_id": 691,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/uNb9QFRL6hY/uNb9QFRL6hY.glb",
+  "instruction": "InstructionData(instruction_text='FACING A HALLWAY WITH BLACK FRAMED PICTURES ON THE RIGHT SIDE WALL, WALK FORWARD UNTIL YOU REACH A SET OF STAIRS, TURN RIGHT AT THE STAIRS AND ENTER THE DOOR , WALK FORWARD DOWN THE SHORT HALL AND INTO THE BATHROOM. ', instruction_tokens=[906, 73, 1126, 2661, 314, 1008, 1777, 1613, 2389, 1968, 2121, 2593, 2584, 993, 2524, 2703, 1920, 73, 2073, 1605, 2222, 2494, 1968, 178, 2389, 2222, 119, 860, 2389, 757, 2584, 993, 780, 2389, 2107, 1121, 119, 1264, 2389, 242, 15])",
+  "instruction_text": "FACING A HALLWAY WITH BLACK FRAMED PICTURES ON THE RIGHT SIDE WALL, WALK FORWARD UNTIL YOU REACH A SET OF STAIRS, TURN RIGHT AT THE STAIRS AND ENTER THE DOOR , WALK FORWARD DOWN THE SHORT HALL AND INTO THE BATHROOM. ",
+  "num_steps": 44,
+  "total_unique_objects": 5,
+  "mindcraft_queries": [
+    {
+      "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) closet (B) workout/gym/exercise (C) bathroom",
+      "answer": "A",
+      "options": [
+        "closet",
+        "workout/gym/exercise",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "closet",
+        "all_options": [
+          "closet",
+          "workout/gym/exercise",
+          "bathroom"
+        ],
+        "query_timestep_internal": 42,
+        "rooms_visited": [
+          "closet",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bathroom (B) entryway/foyer/lobby (C) garage",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_15",
+          "1_16",
+          "1_17"
+        ],
+        "correct_answer_room": "1_15",
+        "all_options": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "garage"
+        ],
+        "context_rooms": "closet, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "stairs",
+        "landmark_room": "dining room",
+        "final_room": "closet",
+        "remaining_rooms": [
+          "stairs",
+          "hallway",
+          "closet"
+        ],
+        "all_rooms_in_trajectory": [
+          "closet",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 16,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) entryway/foyer/lobby (C) hallway",
+    "answer": "C",
+    "options": [
+      "living room",
+      "entryway/foyer/lobby",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "hallway"
+      ],
+      "query_timestep_internal": 16,
+      "rooms_visited": [
+        "closet",
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

train/000759/meta.json

@@ -0,0 +1,259 @@
+{
+  "episode_id": 759,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Turn slightly right to face the windows and walk forward a few feet towards them. Turn left towards the bedroom area. Keeping the windows to your right walk forward through the bedroom toward the large frosted glass doors. Walk through those doors and continue past the elevator towards the entrance way. Right past the elevator area and before you pass the large entry doors turn left. Move forwards away from the large entry doors and towards the small back exit door that leads outside. There is a red metal sculpture right outside that you should be walking towards . Proceed outside a short distance past the red sculpture and almost until the slate walkway narrows There are two large boulders to the right, off the path. Walk on the dirt and onto the boulder that is closest to the structure you just left. Stop. ', instruction_tokens=[2494, 2164, 1968, 2438, 903, 2389, 2654, 119, 2584, 993, 73, 925, 922, 2452, 2393, 15, 2494, 1360, 2452, 2389, 273, 150, 15, 1296, 2389, 2654, 2438, 2706, 1968, 2584, 993, 2418, 2389, 273, 2451, 2389, 1336, 1021, 1057, 762, 15, 2584, 2418, 2410, 762, 119, 569, 1728, 2389, 839, 2452, 2389, 867, 2616, 15, 1968, 1728, 2389, 839, 150, 119, 281, 2703, 1721, 2389, 1336, 871, 762, 2494, 1360, 15, 1537, 995, 187, 1017, 2389, 1336, 871, 762, 119, 2452, 2389, 2170, 190, 888, 757, 2388, 1350, 1665, 15, 2395, 1267, 73, 1939, 1495, 2044, 1968, 1665, 2388, 2703, 2109, 252, 2588, 2452, 15, 1878, 1665, 73, 2107, 736, 1728, 2389, 1939, 2044, 119, 106, 2524, 2389, 2155, 2592, 1554, 2395, 149, 2509, 1336, 350, 2438, 2389, 1968, 1606, 2389, 1734, 15, 2584, 1613, 2389, 723, 119, 1620, 2389, 349, 2388, 1267, 520, 2438, 2389, 2302, 2703, 1293, 1360, 15, 2278, 15])",
+  "instruction_text": "Turn slightly right to face the windows and walk forward a few feet towards them. Turn left towards the bedroom area. Keeping the windows to your right walk forward through the bedroom toward the large frosted glass doors. Walk through those doors and continue past the elevator towards the entrance way. Right past the elevator area and before you pass the large entry doors turn left. Move forwards away from the large entry doors and towards the small back exit door that leads outside. There is a red metal sculpture right outside that you should be walking towards . Proceed outside a short distance past the red sculpture and almost until the slate walkway narrows There are two large boulders to the right, off the path. Walk on the dirt and onto the boulder that is closest to the structure you just left. Stop. ",
+  "num_steps": 112,
+  "total_unique_objects": 203,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 111,
+      "question": "Recall your earlier path. When you passed by the table in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        249
+      ],
+      "metadata": {
+        "probe_object_id": 249,
+        "probe_category": "table",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_22",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -12.621399879455566,
+          -0.35706305503845215,
+          3.8996798992156982
+        ],
+        "agent_position_when_seen": [
+          -10.479700088500977,
+          -0.5917159914970398,
+          4.165410041809082
+        ],
+        "pixel_centroid_x": 88.61204343534057,
+        "normalized_position_x": -0.3077184106614018,
+        "object_pixel_count": 1013,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 112
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 111,
+      "question": "Along your path, did you see the bed before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 2,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 110,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) outdoor (B) living room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "outdoor",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "outdoor",
+        "all_options": [
+          "outdoor",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 110,
+        "rooms_visited": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "outdoor",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 27,
+      "question": "From your current viewpoint, is the furniture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        307,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 307,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          5.403810024261475,
+          1.3073596954345703,
+          10.244400024414062
+        ],
+        "object_B_id": 7,
+        "object_B_category": "furniture",
+        "object_B_position": [
+          8.721199989318848,
+          1.8124003410339355,
+          -3.6168198585510254
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -6.815084457397461,
+          -0.25852444767951965,
+          4.826706409454346
+        ],
+        "agent_rotation": [
+          0.6841189861297607,
+          0.0,
+          -0.7293705344200134,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 92,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) spa/sauna (B) porch/terrace/deck (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "porch/terrace/deck",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_20",
+          "0_29",
+          "0_3",
+          "0_30"
+        ],
+        "correct_answer_room": "0_30",
+        "all_options": [
+          "spa/sauna",
+          "porch/terrace/deck",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bedroom, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 53,
+      "question": "From your current position, will you pass through the spa/sauna on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 53,
+        "current_room": "bedroom",
+        "landmark_room": "spa/sauna",
+        "final_room": "outdoor",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "entryway/foyer/lobby",
+          "hallway",
+          "porch/terrace/deck",
+          "outdoor"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "outdoor",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "porch/terrace/deck",
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 55,
+    "question": "From your current viewpoint, is the furniture in front of or behind the objects?",
+    "answer": "in front of",
+    "options": [
+      "in front of",
+      "behind"
+    ],
+    "probe_objects": [
+      286,
+      7
+    ],
+    "metadata": {
+      "object_A_id": 286,
+      "object_A_category": "objects",
+      "object_A_position": [
+        1.3697199821472168,
+        0.8855082988739014,
+        -2.1210994720458984
+      ],
+      "object_B_id": 7,
+      "object_B_category": "furniture",
+      "object_B_position": [
+        8.721199989318848,
+        1.8124003410339355,
+        -3.6168198585510254
+      ],
+      "spatial_relation": "in front of",
+      "agent_position": [
+        -2.8925938606262207,
+        0.005729019641876221,
+        2.572252035140991
+      ],
+      "agent_rotation": [
+        0.7734681367874146,
+        0.0,
+        -0.6338351964950562,
+        0.0
+      ]
+    }
+  }
+}

train/000848/meta.json

@@ -0,0 +1,115 @@
+{
+  "episode_id": 848,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and go into the hallway.  When you get to the next hallway, you could go left or right, you will stop there and wait in front of the exit sign. ', instruction_tokens=[2494, 1968, 119, 1067, 1264, 2389, 1126, 15, 2632, 2703, 1046, 2438, 2389, 1576, 1126, 2703, 597, 1067, 1360, 1637, 1968, 2703, 2648, 2278, 2395, 119, 2579, 1237, 1019, 1605, 2389, 888, 2125, 15])",
+  "instruction_text": "Turn right and go into the hallway.  When you get to the next hallway, you could go left or right, you will stop there and wait in front of the exit sign. ",
+  "num_steps": 35,
+  "total_unique_objects": 1336,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 34,
+      "question": "Along your path, did you see the table before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        10,
+        4
+      ],
+      "metadata": {
+        "object_A_id": 10,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 4,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 10,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 16,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) other room (C) dining booth",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "other room",
+        "dining booth"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "other room",
+          "dining booth"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 15,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) dining booth (B) library (C) office",
+      "answer": "C",
+      "options": [
+        "dining booth",
+        "library",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_34",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_19",
+          "0_33",
+          "0_35"
+        ],
+        "correct_answer_room": "0_35",
+        "all_options": [
+          "dining booth",
+          "library",
+          "office"
+        ],
+        "context_rooms": "hallway, office"
+      }
+    }
+  ],
+  "primary_query": {
+    "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) kitchen (B) meetingroom/conferenceroom (C) hallway",
+    "answer": "C",
+    "options": [
+      "kitchen",
+      "meetingroom/conferenceroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "kitchen",
+        "meetingroom/conferenceroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 30,
+      "rooms_visited": [
+        "hallway",
+        "office"
+      ]
+    }
+  }
+}

train/000941/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 941,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Move around the bed through the entryway between the dressers. Make a right and continue past the stairs. Facing the bathroom, move right and stop just inside the bedroom. ', instruction_tokens=[1537, 159, 2389, 267, 2418, 2389, 872, 294, 2389, 798, 15, 1446, 73, 1968, 119, 569, 1728, 2389, 2222, 15, 906, 2389, 242, 1537, 1968, 119, 2278, 1293, 1249, 2389, 273, 15])",
+  "instruction_text": "Move around the bed through the entryway between the dressers. Make a right and continue past the stairs. Facing the bathroom, move right and stop just inside the bedroom. ",
+  "num_steps": 94,
+  "total_unique_objects": 198,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 93,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        430
+      ],
+      "metadata": {
+        "probe_object_id": 430,
+        "probe_category": "tv_monitor",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "1_12",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 27,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          -9.791740417480469,
+          4.455790042877197,
+          -3.102530002593994
+        ],
+        "agent_position_when_seen": [
+          -2.005068778991699,
+          3.2966651916503906,
+          -0.7683329582214355
+        ],
+        "pixel_centroid_x": 164.35294117647058,
+        "normalized_position_x": 0.2840073529411764,
+        "object_pixel_count": 102,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 94
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 93,
+      "question": "Along your path, did you see the stool before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        194,
+        136
+      ],
+      "metadata": {
+        "object_A_id": 194,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 136,
+        "object_B_category": "stool",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 136,
+        "asked_second_object_id": 194
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 75,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) workout/gym/exercise (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "workout/gym/exercise",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "workout/gym/exercise",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 75,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 4,
+      "question": "From your current viewpoint, is the table to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        206,
+        198
+      ],
+      "metadata": {
+        "object_A_id": 206,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -2.714200019836426,
+          0.3993299603462219,
+          0.41024303436279297
+        ],
+        "object_B_id": 198,
+        "object_B_category": "table",
+        "object_B_position": [
+          -5.892300128936768,
+          0.5781760215759277,
+          0.9058510065078735
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          0.6540734767913818,
+          3.2966651916503906,
+          -3.676884651184082
+        ],
+        "agent_rotation": [
+          -0.3542448878288269,
+          0.0,
+          -0.9351527094841003,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 0,
+      "question": "You are currently in the bathroom, and you can see the bedroom. Based on your understanding of the environment layout, which other area is the bathroom directly connected to? (A) stairs (B) dining room (C) bedroom",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "dining room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_13",
+          "1_18"
+        ],
+        "correct_answer_room": "1_13",
+        "all_options": [
+          "stairs",
+          "dining room",
+          "bedroom"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 31,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 31,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 40,
+    "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 40,
+      "current_room": "bedroom",
+      "landmark_room": "bathroom",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "bedroom",
+        "hallway",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "bathroom",
+        "bedroom"
+      ]
+    }
+  }
+}

train/001023/meta.json

@@ -0,0 +1,237 @@
+{
+  "episode_id": 1023,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JmbYfDe2QKZ/JmbYfDe2QKZ.glb",
+  "instruction": "InstructionData(instruction_text='enter the dining room area, turn right, turn right again and enter the kitchen, turn left at the kitchen island, continue to exit the kitchen, enter the living room area, and stop in front of the television on the left. ', instruction_tokens=[860, 2389, 711, 1994, 150, 2494, 1968, 2494, 1968, 95, 119, 860, 2389, 1306, 2494, 1360, 178, 2389, 1306, 1268, 569, 2438, 888, 2389, 1306, 860, 2389, 1404, 1994, 150, 119, 2278, 1237, 1019, 1605, 2389, 2375, 1613, 2389, 1360, 15])",
+  "instruction_text": "enter the dining room area, turn right, turn right again and enter the kitchen, turn left at the kitchen island, continue to exit the kitchen, enter the living room area, and stop in front of the television on the left. ",
+  "num_steps": 68,
+  "total_unique_objects": 159,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the objects in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        424
+      ],
+      "metadata": {
+        "probe_object_id": 424,
+        "probe_category": "objects",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_15",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 8,
+        "num_sightings": 10,
+        "spatial_relation": "right",
+        "object_position": [
+          -7.437150001525879,
+          1.1154100894927979,
+          -1.6795098781585693
+        ],
+        "agent_position_when_seen": [
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+          0.07484699785709381,
+          -1.823099970817566
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+        "pixel_centroid_x": 247.44963144963145,
+        "normalized_position_x": 0.9332002457002457,
+        "object_pixel_count": 407,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 68
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 67,
+      "question": "Along your path, did you see the railing before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        167,
+        437
+      ],
+      "metadata": {
+        "object_A_id": 167,
+        "object_A_category": "railing",
+        "object_A_timestep": 0,
+        "object_B_id": 437,
+        "object_B_category": "table",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 167,
+        "asked_second_object_id": 437
+      }
+    },
+    {
+      "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) living room (B) lounge (C) dining room",
+      "answer": "C",
+      "options": [
+        "living room",
+        "lounge",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "living room",
+          "lounge",
+          "dining room"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "familyroom/lounge",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the picture to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        446,
+        412
+      ],
+      "metadata": {
+        "object_A_id": 446,
+        "object_A_category": "chair",
+        "object_A_position": [
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+          0.4417489767074585,
+          0.42112502455711365
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+        "object_B_id": 412,
+        "object_B_category": "picture",
+        "object_B_position": [
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+          1.1750900745391846,
+          -1.2195600271224976
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.07484699785709381,
+          -0.8652229309082031
+        ],
+        "agent_rotation": [
+          -0.6632879376411438,
+          0.0,
+          -0.7483643293380737,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 48,
+      "question": "You are currently in the kitchen, and you can see the bathroom, dining room. Based on your understanding of the environment layout, which other area is the kitchen directly connected to? (A) bedroom (B) familyroom/lounge (C) office",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "familyroom/lounge",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_12",
+          "0_14",
+          "0_16",
+          "0_17"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "bedroom",
+          "familyroom/lounge",
+          "office"
+        ],
+        "context_rooms": "bathroom, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "bathroom",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom",
+          "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": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 10,
+    "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) balcony (B) entryway/foyer/lobby (C) lounge",
+    "answer": "C",
+    "options": [
+      "balcony",
+      "entryway/foyer/lobby",
+      "lounge"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_9",
+      "adjacent_rooms": [
+        "0_10",
+        "0_16",
+        "0_8"
+      ],
+      "correct_answer_room": "0_10",
+      "all_options": [
+        "balcony",
+        "entryway/foyer/lobby",
+        "lounge"
+      ],
+      "context_rooms": "dining room, office"
+    }
+  }
+}

train/001094/meta.json

@@ -0,0 +1,126 @@
+{
+  "episode_id": 1094,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk up the first five to six steps of the stairs. Wait there. ', instruction_tokens=[2494, 159, 119, 2584, 2527, 2389, 946, 950, 2438, 2140, 2265, 1605, 2389, 2222, 15, 2579, 2395, 15])",
+  "instruction_text": "Turn around and walk up the first five to six steps of the stairs. Wait there. ",
+  "num_steps": 47,
+  "total_unique_objects": 266,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 46,
+      "question": "Recall your earlier path. When you passed by the chair in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        504
+      ],
+      "metadata": {
+        "probe_object_id": 504,
+        "probe_category": "chair",
+        "probe_room": "office",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 32,
+        "best_view_timestep": 33,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          3.722709894180298,
+          7.169149875640869,
+          5.988230228424072
+        ],
+        "agent_position_when_seen": [
+          -3.7951035499572754,
+          0.4646757245063782,
+          -3.756666898727417
+        ],
+        "pixel_centroid_x": 241.7579617834395,
+        "normalized_position_x": 0.8887340764331211,
+        "object_pixel_count": 157,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 47
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 46,
+      "question": "Along your path, did you see the stairs before or after the column?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        361,
+        348
+      ],
+      "metadata": {
+        "object_A_id": 361,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 348,
+        "object_B_category": "column",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 361,
+        "asked_second_object_id": 348
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 11,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) living room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 46,
+    "question": "Along your path, did you see the stairs before or after the column?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      361,
+      348
+    ],
+    "metadata": {
+      "object_A_id": 361,
+      "object_A_category": "stairs",
+      "object_A_timestep": 0,
+      "object_B_id": 348,
+      "object_B_category": "column",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 361,
+      "asked_second_object_id": 348
+    }
+  }
+}

train/001113/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 1113,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Exit the room and turn right. Walk past the living room and dining area. Wait by the column. ', instruction_tokens=[888, 2389, 1994, 119, 2494, 1968, 15, 2584, 1728, 2389, 1404, 1994, 119, 711, 150, 15, 2579, 404, 2389, 541, 15])",
+  "instruction_text": "Exit the room and turn right. Walk past the living room and dining area. Wait by the column. ",
+  "num_steps": 71,
+  "total_unique_objects": 189,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 70,
+      "question": "Recall your earlier path. When you passed by the picture in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        763
+      ],
+      "metadata": {
+        "probe_object_id": 763,
+        "probe_category": "picture",
+        "probe_room": "hallway",
+        "probe_region_id": "1_21",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 19,
+        "num_sightings": 24,
+        "spatial_relation": "left",
+        "object_position": [
+          7.996860504150391,
+          4.714240074157715,
+          1.455979824066162
+        ],
+        "agent_position_when_seen": [
+          5.7774577140808105,
+          0.11414599418640137,
+          -3.9458820819854736
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+        "pixel_centroid_x": 94.11715897776303,
+        "normalized_position_x": -0.26470969548622636,
+        "object_pixel_count": 6026,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 71
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 70,
+      "question": "Along your path, did you see the curtain before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        602,
+        74
+      ],
+      "metadata": {
+        "object_A_id": 602,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 74,
+        "object_B_category": "mirror",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 602,
+        "asked_second_object_id": 74
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 22,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) laundryroom/mudroom (C) office",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "laundryroom/mudroom",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "lounge",
+          "laundryroom/mudroom",
+          "office"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 12,
+      "question": "From your current viewpoint, is the column to the left or right of the cushion?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        112,
+        741
+      ],
+      "metadata": {
+        "object_A_id": 112,
+        "object_A_category": "cushion",
+        "object_A_position": [
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+          4.060529708862305,
+          2.2606396675109863
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+        "object_B_id": 741,
+        "object_B_category": "column",
+        "object_B_position": [
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+          1.310460090637207,
+          -1.0031299591064453
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
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+          0.11414599418640137,
+          -3.9569294452667236
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+          -0.6916747689247131,
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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 familyroom/lounge you see now directly connected to? (A) entryway/foyer/lobby (B) living room (C) bedroom",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_9",
+        "adjacent_rooms": [
+          "1_21",
+          "1_8"
+        ],
+        "correct_answer_room": "1_8",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "living room",
+          "bedroom"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 30,
+      "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": 30,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 21,
+    "question": "From your current viewpoint, is the chair to the left or right of the column?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      741,
+      650
+    ],
+    "metadata": {
+      "object_A_id": 741,
+      "object_A_category": "column",
+      "object_A_position": [
+        8.652079582214355,
+        1.310460090637207,
+        -1.0031299591064453
+      ],
+      "object_B_id": 650,
+      "object_B_category": "chair",
+      "object_B_position": [
+        9.627120018005371,
+        0.35470104217529297,
+        4.462550163269043
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        6.027224540710449,
+        0.11414599418640137,
+        -3.9566750526428223
+      ],
+      "agent_rotation": [
+        0.6257489323616028,
+        0.0,
+        -0.780024528503418,
+        0.0
+      ]
+    }
+  }
+}

train/001168/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 1168,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn right.  Walk through the galley kitchen area.  Turn to the left, you'll be in a pantry.  Stop right there and wait. \", instruction_tokens=[2494, 1968, 15, 2584, 2418, 2389, 1034, 1306, 150, 15, 2494, 2438, 2389, 1360, 2703, 9, 1406, 252, 1237, 73, 1706, 15, 2278, 1968, 2395, 119, 2579, 15])",
+  "instruction_text": "Turn right.  Walk through the galley kitchen area.  Turn to the left, you'll be in a pantry.  Stop right there and wait. ",
+  "num_steps": 66,
+  "total_unique_objects": 346,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "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": [
+        401
+      ],
+      "metadata": {
+        "probe_object_id": 401,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
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+        "agent_position_when_seen": [
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+        "object_pixel_count": 767,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the  before or after the chest_of_drawers?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        771
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 771,
+        "object_B_category": "chest_of_drawers",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 771
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 57,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) balcony (C) kitchen",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "balcony",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "toilet",
+          "balcony",
+          "kitchen"
+        ],
+        "query_timestep_internal": 57,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 33,
+      "question": "From your current viewpoint, is the table to the left or right of the plant?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        508,
+        488
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+      "metadata": {
+        "object_A_id": 508,
+        "object_A_category": "plant",
+        "object_A_position": [
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+        "object_B_category": "table",
+        "object_B_position": [
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+          0.2603278160095215,
+          6.2841901779174805
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+        "agent_position": [
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) bathroom (B) balcony (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "balcony",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_23",
+        "adjacent_rooms": [
+          "1_20",
+          "1_21",
+          "1_24",
+          "1_29"
+        ],
+        "correct_answer_room": "1_20",
+        "all_options": [
+          "bathroom",
+          "balcony",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "stairs, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 13,
+      "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": 13,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "laundryroom/mudroom",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 23,
+    "question": "From your current position, will you pass through the utilityroom/toolroom on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 23,
+      "current_room": "kitchen",
+      "landmark_room": "utilityroom/toolroom",
+      "final_room": "laundryroom/mudroom",
+      "remaining_rooms": [
+        "kitchen",
+        "hallway",
+        "laundryroom/mudroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "kitchen",
+        "laundryroom/mudroom"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/001177/meta.json

@@ -0,0 +1,190 @@
+{
+  "episode_id": 1177,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward and turn left. Walk forward until you reach room 339. Wait in the doorway. ', instruction_tokens=[2584, 993, 119, 2494, 1360, 15, 2584, 993, 2524, 2703, 1920, 1994, 48, 15, 2579, 1237, 2389, 766, 15])",
+  "instruction_text": "Walk forward and turn left. Walk forward until you reach room 339. Wait in the doorway. ",
+  "num_steps": 106,
+  "total_unique_objects": 1522,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 105,
+      "question": "Recall your earlier path. When you passed by the column in the other room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1765
+      ],
+      "metadata": {
+        "probe_object_id": 1765,
+        "probe_category": "column",
+        "probe_room": "other room",
+        "probe_region_id": "0_61",
+        "first_seen_timestep": 69,
+        "best_view_timestep": 69,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+        "agent_position_when_seen": [
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+        "object_pixel_count": 100,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 106
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 105,
+      "question": "Along your path, did you see the table before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        31,
+        75
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+        "object_A_category": "",
+        "object_A_timestep": 3,
+        "object_B_id": 75,
+        "object_B_category": "table",
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+        "time_gap": 3,
+        "asked_first_object_id": 75,
+        "asked_second_object_id": 31
+      }
+    },
+    {
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+      "query_timestep": 103,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) classroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "classroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "classroom"
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+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 46,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) hallway (B) library (C) dining booth",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "library",
+        "dining booth"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_70",
+        "adjacent_rooms": [
+          "0_68",
+          "0_69",
+          "0_71"
+        ],
+        "correct_answer_room": "0_68",
+        "all_options": [
+          "hallway",
+          "library",
+          "dining booth"
+        ],
+        "context_rooms": "office, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the office on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "hallway",
+        "landmark_room": "office",
+        "final_room": "hallway",
+        "remaining_rooms": [
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+          "office",
+          "hallway"
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+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 39,
+    "question": "From your current position, will you pass through the office on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 39,
+      "current_room": "hallway",
+      "landmark_room": "office",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "hallway",
+        "office",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "office"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/001323/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 1323,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='Walk to the foot of the bed, turn right and walk to hallway turn slight left and stop in hallway facing elevator. ', instruction_tokens=[2584, 2438, 2389, 980, 1605, 2389, 267, 2494, 1968, 119, 2584, 2438, 1126, 2494, 2162, 1360, 119, 2278, 1237, 1126, 906, 839, 15])",
+  "instruction_text": "Walk to the foot of the bed, turn right and walk to hallway turn slight left and stop in hallway facing elevator. ",
+  "num_steps": 57,
+  "total_unique_objects": 620,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the objects in the rec/game, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1
+      ],
+      "metadata": {
+        "probe_object_id": 1,
+        "probe_category": "objects",
+        "probe_room": "rec/game",
+        "probe_region_id": "0_0",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 14,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          -5.114590644836426,
+          8.239060401916504
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+        "agent_position_when_seen": [
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+          7.256642818450928,
+          12.275232315063477
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+        "pixel_centroid_x": 19.48076923076923,
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+        "object_pixel_count": 156,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 57
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 56,
+      "question": "Along your path, did you see the objects before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        210
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 210,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 210
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 37,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) bedroom (C) rec/game",
+      "answer": "B",
+      "options": [
+        "other room",
+        "bedroom",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "other room",
+          "bedroom",
+          "rec/game"
+        ],
+        "query_timestep_internal": 37,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 14,
+      "question": "From your current viewpoint, is the shelving to the left or right of the beam?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        8,
+        87
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+      "metadata": {
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+        "object_A_category": "beam",
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+          -2.4116201400756836,
+          6.119629859924316
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+        "object_B_id": 87,
+        "object_B_category": "shelving",
+        "object_B_position": [
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+          -3.141180992126465,
+          12.886698722839355
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+        "spatial_relation": "right",
+        "agent_position": [
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+          7.256642818450928,
+          12.275232315063477
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+          0.19818976521492004,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the toilet you see now directly connected to? (A) bathroom (B) other room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "other room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_36",
+        "adjacent_rooms": [
+          "2_35",
+          "2_37"
+        ],
+        "correct_answer_room": "2_37",
+        "all_options": [
+          "bathroom",
+          "other room",
+          "kitchen"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 42,
+    "question": "From your current viewpoint, is the shelving to the left or right of the stairs?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      498,
+      87
+    ],
+    "metadata": {
+      "object_A_id": 498,
+      "object_A_category": "stairs",
+      "object_A_position": [
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+        13.118099212646484
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+      "object_B_id": 87,
+      "object_B_category": "shelving",
+      "object_B_position": [
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+        -3.141180992126465,
+        12.886698722839355
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+      "spatial_relation": "right",
+      "agent_position": [
+        -11.698043823242188,
+        7.322591304779053,
+        11.295486450195312
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+      "agent_rotation": [
+        -0.8297091722488403,
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+        0.558195948600769,
+        0.0
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+    }
+  }
+}

train/001352/meta.json

@@ -0,0 +1,154 @@
+{
+  "episode_id": 1352,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bathroom and take a right in the bedroom into the office. In the office stop in front of the desk closest to the trash bin. ', instruction_tokens=[1355, 2389, 242, 119, 2352, 73, 1968, 1237, 2389, 273, 1264, 2389, 1607, 15, 1237, 2389, 1607, 2278, 1237, 1019, 1605, 2389, 692, 520, 2438, 2389, 2459, 306, 15])",
+  "instruction_text": "Leave the bathroom and take a right in the bedroom into the office. In the office stop in front of the desk closest to the trash bin. ",
+  "num_steps": 51,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 50,
+      "question": "Along your path, did you see the beam before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        800,
+        365
+      ],
+      "metadata": {
+        "object_A_id": 800,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 365,
+        "object_B_category": "beam",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 365,
+        "asked_second_object_id": 800
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 9,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) bathroom (C) hallway",
+      "answer": "B",
+      "options": [
+        "closet",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "closet",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 9,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "office",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 7,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) dining room (B) utilityroom/toolroom (C) living room",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "utilityroom/toolroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_15",
+          "0_17",
+          "0_18",
+          "0_24"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "dining room",
+          "utilityroom/toolroom",
+          "living room"
+        ],
+        "context_rooms": "bathroom, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "office",
+        "remaining_rooms": [
+          "bathroom",
+          "workout/gym/exercise",
+          "bedroom",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "office",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 50,
+    "question": "Along your path, did you see the shower before or after the beam?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      800,
+      365
+    ],
+    "metadata": {
+      "object_A_id": 800,
+      "object_A_category": "shower",
+      "object_A_timestep": 0,
+      "object_B_id": 365,
+      "object_B_category": "beam",
+      "object_B_timestep": 6,
+      "time_gap": 6,
+      "asked_first_object_id": 800,
+      "asked_second_object_id": 365
+    }
+  }
+}

train/001373/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 1373,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the kitchen and towards the dining room table. Walk through the doorway and walk left. Wait in the bedroom doorway. ', instruction_tokens=[2584, 2418, 2389, 1306, 119, 2452, 2389, 711, 1994, 2342, 15, 2584, 2418, 2389, 766, 119, 2584, 1360, 15, 2579, 1237, 2389, 273, 766, 15])",
+  "instruction_text": "Walk through the kitchen and towards the dining room table. Walk through the doorway and walk left. Wait in the bedroom doorway. ",
+  "num_steps": 71,
+  "total_unique_objects": 239,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 70,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        120
+      ],
+      "metadata": {
+        "probe_object_id": 120,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_5",
+        "first_seen_timestep": 13,
+        "best_view_timestep": 38,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.1579599380493164,
+          3.291229724884033,
+          -0.21461868286132812
+        ],
+        "agent_position_when_seen": [
+          -5.875912189483643,
+          0.11627800017595291,
+          1.1296744346618652
+        ],
+        "pixel_centroid_x": 238.76435643564358,
+        "normalized_position_x": 0.8653465346534654,
+        "object_pixel_count": 505,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 71
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 70,
+      "question": "Along your path, did you see the bathtub before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        251,
+        81
+      ],
+      "metadata": {
+        "object_A_id": 251,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 4,
+        "object_B_id": 81,
+        "object_B_category": "bed",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 251,
+        "asked_second_object_id": 81
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) living room (C) kitchen",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "laundryroom/mudroom",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 43,
+        "rooms_visited": [
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 69,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        381,
+        395
+      ],
+      "metadata": {
+        "object_A_id": 381,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -13.853099822998047,
+          1.2459194660186768,
+          4.0167694091796875
+        ],
+        "object_B_id": 395,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          -13.818300247192383,
+          1.9445900917053223,
+          5.454790115356445
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -8.733509063720703,
+          0.11627800017595291,
+          -1.838932991027832
+        ],
+        "agent_rotation": [
+          -0.8784003853797913,
+          0.0,
+          -0.4779255986213684,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bedroom (B) laundryroom/mudroom (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "laundryroom/mudroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_5",
+          "1_6"
+        ],
+        "correct_answer_room": "1_5",
+        "all_options": [
+          "bedroom",
+          "laundryroom/mudroom",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 20,
+    "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": 20,
+      "current_room": "kitchen",
+      "landmark_room": "stairs",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "kitchen",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "kitchen"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/001398/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 1398,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward away from the stairs behind you, and go down the stairs into the living room. In the living room take a left and stop in the entry hallway in front of the door. ', instruction_tokens=[2584, 993, 187, 1017, 2389, 2222, 285, 2703, 119, 1067, 780, 2389, 2222, 1264, 2389, 1404, 1994, 15, 1237, 2389, 1404, 1994, 2352, 73, 1360, 119, 2278, 1237, 2389, 871, 1126, 1237, 1019, 1605, 2389, 757, 15])",
+  "instruction_text": "Walk forward away from the stairs behind you, and go down the stairs into the living room. In the living room take a left and stop in the entry hallway in front of the door. ",
+  "num_steps": 57,
+  "total_unique_objects": 173,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        396
+      ],
+      "metadata": {
+        "probe_object_id": 396,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 15,
+        "spatial_relation": "left",
+        "object_position": [
+          8.676750183105469,
+          3.442470073699951,
+          -0.1788146197795868
+        ],
+        "agent_position_when_seen": [
+          5.904109477996826,
+          -1.6503409147262573,
+          -4.439136981964111
+        ],
+        "pixel_centroid_x": 43.85717370959614,
+        "normalized_position_x": -0.6573658303937802,
+        "object_pixel_count": 13891,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 57
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 56,
+      "question": "Along your path, did you see the shelving before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        392
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 392,
+        "object_B_category": "shelving",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 392,
+        "asked_second_object_id": 35
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) balcony (C) stairs",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "balcony",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "porch/terrace/deck",
+          "balcony",
+          "stairs"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 35,
+      "question": "From your current viewpoint, is the table to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        393,
+        396
+      ],
+      "metadata": {
+        "object_A_id": 393,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          10.228500366210938,
+          4.264579772949219,
+          -2.858599901199341
+        ],
+        "object_B_id": 396,
+        "object_B_category": "table",
+        "object_B_position": [
+          8.676750183105469,
+          3.442470073699951,
+          -0.1788146197795868
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          4.529937744140625,
+          -2.1074001789093018,
+          -3.181971549987793
+        ],
+        "agent_rotation": [
+          -0.5875152349472046,
+          0.0,
+          0.8092131614685059,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 52,
+      "question": "You are currently in the familyroom/lounge, and you can see the porch/terrace/deck, bathroom. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) stairs (B) bedroom (C) outdoor",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "bedroom",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2",
+          "0_26",
+          "0_3",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "outdoor"
+        ],
+        "context_rooms": "porch/terrace/deck, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "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": 7,
+        "current_room": "stairs",
+        "landmark_room": "closet",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "stairs",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 56,
+    "question": "Along your path, did you see the shelving before or after the table?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      35,
+      392
+    ],
+    "metadata": {
+      "object_A_id": 35,
+      "object_A_category": "table",
+      "object_A_timestep": 0,
+      "object_B_id": 392,
+      "object_B_category": "shelving",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 392,
+      "asked_second_object_id": 35
+    }
+  }
+}

train/001489/meta.json

@@ -0,0 +1,98 @@
+{
+  "episode_id": 1489,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text='Go to the poster\\r\\nGo to the right two metres\\r\\nGo to the globe\\r\\nGo to the sink. ', instruction_tokens=[1067, 2438, 2389, 1860, 1067, 2438, 2389, 1968, 2509, 1500, 1067, 2438, 2389, 1065, 1067, 2438, 2389, 2132, 15])",
+  "instruction_text": "Go to the poster\r\nGo to the right two metres\r\nGo to the globe\r\nGo to the sink. ",
+  "num_steps": 43,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 38,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) office (C) kitchen",
+      "answer": "B",
+      "options": [
+        "living room",
+        "office",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "living room",
+          "office",
+          "kitchen"
+        ],
+        "query_timestep_internal": 38,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "office",
+          "tv"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "tv",
+        "landmark_room": "toilet",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "tv",
+          "hallway",
+          "office",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "office",
+          "tv"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "tv"
+        ]
+      }
+    }
+  ],
+  "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) bedroom (B) bathroom (C) entryway/foyer/lobby",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "bathroom",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "bedroom",
+        "bathroom",
+        "entryway/foyer/lobby"
+      ],
+      "query_timestep_internal": 42,
+      "rooms_visited": [
+        "bathroom",
+        "hallway",
+        "office",
+        "tv"
+      ]
+    }
+  }
+}

train/001515/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 1515,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the stairs on your left and enter the room with the large wraparound couch.  Walk through this room and enter until just inside the bathroom. ', instruction_tokens=[2584, 1728, 2389, 2222, 1613, 2706, 1360, 119, 860, 2389, 1994, 2661, 2389, 1336, 2689, 593, 15, 2584, 2418, 2406, 1994, 119, 860, 2524, 1293, 1249, 2389, 242, 15])",
+  "instruction_text": "Walk past the stairs on your left and enter the room with the large wraparound couch.  Walk through this room and enter until just inside the bathroom. ",
+  "num_steps": 44,
+  "total_unique_objects": 120,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the objects in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        462
+      ],
+      "metadata": {
+        "probe_object_id": 462,
+        "probe_category": "objects",
+        "probe_room": "stairs",
+        "probe_region_id": "0_21",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 2,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          1.3626298904418945,
+          -1.5150399208068848,
+          -0.9440221786499023
+        ],
+        "agent_position_when_seen": [
+          0.04195230081677437,
+          -3.240571975708008,
+          0.09743460267782211
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+        "pixel_centroid_x": 52.89460476787955,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
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+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the picture before or after the stairs?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        455,
+        184
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+      "metadata": {
+        "object_A_id": 455,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 184,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 184,
+        "asked_second_object_id": 455
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) kitchen (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "kitchen",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the picture to the left or right of the mirror?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        333,
+        338
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+      "metadata": {
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+        "object_A_category": "mirror",
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+      }
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+    {
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+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) porch/terrace/deck (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_16",
+        "adjacent_rooms": [
+          "1_17",
+          "1_20"
+        ],
+        "correct_answer_room": "1_20",
+        "all_options": [
+          "porch/terrace/deck",
+          "hallway",
+          "kitchen"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "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": 18,
+        "current_room": "hallway",
+        "landmark_room": "living room",
+        "final_room": "living room",
+        "remaining_rooms": [
+          "hallway",
+          "living room"
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+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "living room"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 43,
+    "question": "Recall your earlier path. When you passed by the lighting in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      321
+    ],
+    "metadata": {
+      "probe_object_id": 321,
+      "probe_category": "lighting",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_15",
+      "first_seen_timestep": 26,
+      "best_view_timestep": 35,
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+      "object_position": [
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+      "agent_position_when_seen": [
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+        -3.240571975708008,
+        -0.46029752492904663
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 44
+    }
+  }
+}

train/001551/meta.json

@@ -0,0 +1,199 @@
+{
+  "episode_id": 1551,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PuKPg4mmafe/PuKPg4mmafe.glb",
+  "instruction": "InstructionData(instruction_text='Walk up to the table and chairs. Turn left and walk past the table and chairs. Walk past the stairs and stop by the sign. ', instruction_tokens=[2584, 2527, 2438, 2389, 2342, 119, 458, 15, 2494, 1360, 119, 2584, 1728, 2389, 2342, 119, 458, 15, 2584, 1728, 2389, 2222, 119, 2278, 404, 2389, 2125, 15])",
+  "instruction_text": "Walk up to the table and chairs. Turn left and walk past the table and chairs. Walk past the stairs and stop by the sign. ",
+  "num_steps": 87,
+  "total_unique_objects": 50,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the railing in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        78
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+      "metadata": {
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+        "probe_category": "railing",
+        "probe_room": "hallway",
+        "probe_region_id": "0_1",
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+        "num_sightings": 3,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 87
+      }
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+    {
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+      "question": "Along your path, did you see the chair before or after the curtain?",
+      "answer": "before",
+      "options": [
+        "before",
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+      "probe_objects": [
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+        "object_A_category": "chair",
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+        "time_gap": 14,
+        "asked_first_object_id": 42,
+        "asked_second_object_id": 8
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+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 20,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) lounge (C) office",
+      "answer": "B",
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+        "office"
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+      "probe_objects": [],
+      "metadata": {
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+        "rooms_visited": [
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+    {
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+      "question": "From your current viewpoint, is the curtain to the left or right of the lighting?",
+      "answer": "left",
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+    {
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+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "lounge",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
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+          "hallway"
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+        "all_rooms_in_trajectory": [
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+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 86,
+    "question": "Along your path, did you see the curtain before or after the chair?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      42,
+      8
+    ],
+    "metadata": {
+      "object_A_id": 42,
+      "object_A_category": "chair",
+      "object_A_timestep": 16,
+      "object_B_id": 8,
+      "object_B_category": "curtain",
+      "object_B_timestep": 30,
+      "time_gap": 14,
+      "asked_first_object_id": 8,
+      "asked_second_object_id": 42
+    }
+  }
+}

train/001636/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 1636,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VFuaQ6m2Qom/VFuaQ6m2Qom.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the stairs, walk down the hallway to the right of the mirror, enter the jacuzzi room, wait at the doorway. ', instruction_tokens=[2584, 2527, 2389, 2222, 2584, 780, 2389, 1126, 2438, 2389, 1968, 1605, 2389, 1515, 860, 2389, 1279, 1994, 2579, 178, 2389, 766, 15])",
+  "instruction_text": "Walk up the stairs, walk down the hallway to the right of the mirror, enter the jacuzzi room, wait at the doorway. ",
+  "num_steps": 90,
+  "total_unique_objects": 251,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 89,
+      "question": "Recall your earlier path. When you passed by the mirror in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        53
+      ],
+      "metadata": {
+        "probe_object_id": 53,
+        "probe_category": "mirror",
+        "probe_room": "hallway",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 62,
+        "best_view_timestep": 75,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          -1.8509798049926758,
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+          -0.0414888858795166
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+        "object_pixel_count": 2027,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 90
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 89,
+      "question": "Along your path, did you see the sofa before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
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+        118
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+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 118,
+        "object_B_category": "sofa",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 118,
+        "asked_second_object_id": 32
+      }
+    },
+    {
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+      "query_timestep": 31,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) rec/game (B) lounge (C) bathroom",
+      "answer": "B",
+      "options": [
+        "rec/game",
+        "lounge",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "rec/game",
+          "lounge",
+          "bathroom"
+        ],
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+        "rooms_visited": [
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 53,
+      "question": "From your current viewpoint, is the sofa to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
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+        119
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+      "metadata": {
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+        "object_A_category": "railing",
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+        "object_B_id": 119,
+        "object_B_category": "sofa",
+        "object_B_position": [
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+        "spatial_relation": "left",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) lounge (B) living room (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "living room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+        "adjacent_rooms": [
+          "0_2",
+          "0_4"
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+        "correct_answer_room": "0_4",
+        "all_options": [
+          "lounge",
+          "living room",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 45,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+        "current_room": "lounge",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "lounge",
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+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "lounge"
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+      }
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+    "query_timestep": 66,
+    "question": "From your current viewpoint, is the fireplace to the left or right of the picture?",
+    "answer": "right",
+    "options": [
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+      "right"
+    ],
+    "probe_objects": [
+      221,
+      156
+    ],
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+      "object_A_category": "picture",
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+      "object_B_category": "fireplace",
+      "object_B_position": [
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+        -0.8355903029441833,
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+    }
+  }
+}

train/001676/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 1676,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/s8pcmisQ38h/s8pcmisQ38h.glb",
+  "instruction": "InstructionData(instruction_text='Walk past bedroom door. Make right down hallway. Walk past ceiling rafter. Wait at open door on left. ', instruction_tokens=[2584, 1728, 273, 757, 15, 1446, 1968, 780, 1126, 15, 2584, 1728, 447, 1908, 15, 2579, 178, 1625, 757, 1613, 1360, 15])",
+  "instruction_text": "Walk past bedroom door. Make right down hallway. Walk past ceiling rafter. Wait at open door on left. ",
+  "num_steps": 70,
+  "total_unique_objects": 110,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the cabinet in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        62
+      ],
+      "metadata": {
+        "probe_object_id": 62,
+        "probe_category": "cabinet",
+        "probe_room": "living room",
+        "probe_region_id": "0_0",
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+        "num_sightings": 19,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 70
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the seating before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        13,
+        18
+      ],
+      "metadata": {
+        "object_A_id": 13,
+        "object_A_category": "seating",
+        "object_A_timestep": 0,
+        "object_B_id": 18,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 13,
+        "asked_second_object_id": 18
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) lounge (C) kitchen",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "lounge",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "lounge",
+          "kitchen"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the chair to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        238,
+        58
+      ],
+      "metadata": {
+        "object_A_id": 238,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          6.833360195159912,
+          -1.6641101837158203,
+          2.6595396995544434
+        ],
+        "object_B_id": 58,
+        "object_B_category": "chair",
+        "object_B_position": [
+          11.312999725341797,
+          0.5936130285263062,
+          1.2993799448013306
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          14.283402442932129,
+          3.0383260250091553,
+          -0.1291401982307434
+        ],
+        "agent_rotation": [
+          -0.7982035279273987,
+          0.0,
+          -0.6023879051208496,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 36,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) kitchen (B) entryway/foyer/lobby (C) lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "entryway/foyer/lobby",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_16"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "kitchen",
+          "entryway/foyer/lobby",
+          "lounge"
+        ],
+        "context_rooms": "living room, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 28,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 28,
+        "current_room": "lounge",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 26,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) lounge (C) living room",
+    "answer": "B",
+    "options": [
+      "stairs",
+      "lounge",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "lounge",
+      "all_options": [
+        "stairs",
+        "lounge",
+        "living room"
+      ],
+      "query_timestep_internal": 26,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "lounge"
+      ]
+    }
+  }
+}

train/001693/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1693,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bedroom, walk down the stairs to the right of the wine case, wait halfway down the stairs. ', instruction_tokens=[888, 2389, 273, 2584, 780, 2389, 2222, 2438, 2389, 1968, 1605, 2389, 2655, 441, 2579, 1120, 780, 2389, 2222, 15])",
+  "instruction_text": "Exit the bedroom, walk down the stairs to the right of the wine case, wait halfway down the stairs. ",
+  "num_steps": 60,
+  "total_unique_objects": 110,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 59,
+      "question": "Recall your earlier path. When you passed by the plant in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        634
+      ],
+      "metadata": {
+        "probe_object_id": 634,
+        "probe_category": "plant",
+        "probe_room": "hallway",
+        "probe_region_id": "1_29",
+        "first_seen_timestep": 19,
+        "best_view_timestep": 19,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -6.703090190887451,
+          1.5612200498580933,
+          0.3413670063018799
+        ],
+        "agent_position_when_seen": [
+          -5.552882671356201,
+          0.11554622650146484,
+          -2.7086169719696045
+        ],
+        "pixel_centroid_x": 45.53422370617696,
+        "normalized_position_x": -0.6442638772954925,
+        "object_pixel_count": 599,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 60
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 59,
+      "question": "Along your path, did you see the bathtub before or after the lighting?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        386,
+        703
+      ],
+      "metadata": {
+        "object_A_id": 386,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 0,
+        "object_B_id": 703,
+        "object_B_category": "lighting",
+        "object_B_timestep": 17,
+        "time_gap": 17,
+        "asked_first_object_id": 386,
+        "asked_second_object_id": 703
+      }
+    },
+    {
+      "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) balcony (B) porch/terrace/deck (C) kitchen",
+      "answer": "C",
+      "options": [
+        "balcony",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "balcony",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the bathtub to the left or right of the toilet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        395,
+        386
+      ],
+      "metadata": {
+        "object_A_id": 395,
+        "object_A_category": "toilet",
+        "object_A_position": [
+          -4.997809886932373,
+          0.3786369562149048,
+          1.749980092048645
+        ],
+        "object_B_id": 386,
+        "object_B_category": "bathtub",
+        "object_B_position": [
+          -4.740119934082031,
+          0.41326904296875,
+          3.9091596603393555
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -3.187269926071167,
+          0.11554622650146484,
+          -1.9573299884796143
+        ],
+        "agent_rotation": [
+          0.31817081570625305,
+          0.0,
+          0.9480334520339966,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) closet (B) entryway/foyer/lobby (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "closet",
+        "entryway/foyer/lobby",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_32",
+        "adjacent_rooms": [
+          "1_16",
+          "1_17",
+          "1_18",
+          "1_19",
+          "1_29"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "closet",
+          "entryway/foyer/lobby",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 27,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 27,
+    "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) bathroom (B) other room (C) bedroom",
+    "answer": "B",
+    "options": [
+      "bathroom",
+      "other room",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_47",
+      "adjacent_rooms": [
+        "1_14",
+        "1_29",
+        "1_31"
+      ],
+      "correct_answer_room": "1_31",
+      "all_options": [
+        "bathroom",
+        "other room",
+        "bedroom"
+      ],
+      "context_rooms": "kitchen, hallway"
+    }
+  }
+}

train/001696/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 1696,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Go down the hall to the right at the top of the stairs. Take a left down the hallway and go straight into the bedroom at the end of the hall and stop in the doorway. ', instruction_tokens=[1067, 780, 2389, 1121, 2438, 2389, 1968, 178, 2389, 2444, 1605, 2389, 2222, 15, 2352, 73, 1360, 780, 2389, 1126, 119, 1067, 2288, 1264, 2389, 273, 178, 2389, 851, 1605, 2389, 1121, 119, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Go down the hall to the right at the top of the stairs. Take a left down the hallway and go straight into the bedroom at the end of the hall and stop in the doorway. ",
+  "num_steps": 37,
+  "total_unique_objects": 37,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 36,
+      "question": "Recall your earlier path. When you passed by the picture in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        311
+      ],
+      "metadata": {
+        "probe_object_id": 311,
+        "probe_category": "picture",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_15",
+        "first_seen_timestep": 15,
+        "best_view_timestep": 15,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -2.811310052871704,
+          1.928820013999939,
+          0.5496410131454468
+        ],
+        "agent_position_when_seen": [
+          -2.1967966556549072,
+          0.15942811965942383,
+          -2.4870705604553223
+        ],
+        "pixel_centroid_x": 14.83177570093458,
+        "normalized_position_x": -0.8841267523364486,
+        "object_pixel_count": 107,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 37
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 36,
+      "question": "Along your path, did you see the picture before or after the stairs?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        182,
+        429
+      ],
+      "metadata": {
+        "object_A_id": 182,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 429,
+        "object_B_category": "picture",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 429,
+        "asked_second_object_id": 182
+      }
+    },
+    {
+      "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) stairs (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "kitchen"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the stairs to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        414,
+        182
+      ],
+      "metadata": {
+        "object_A_id": 414,
+        "object_A_category": "railing",
+        "object_A_position": [
+          -1.5429600477218628,
+          0.6398789882659912,
+          1.041179895401001
+        ],
+        "object_B_id": 182,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          -0.09195089340209961,
+          -1.6656301021575928,
+          0.9521209001541138
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -2.3039300441741943,
+          0.15942811965942383,
+          -1.24167001247406
+        ],
+        "agent_rotation": [
+          0.6761263608932495,
+          0.0,
+          -0.7367857694625854,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) dining room (B) lounge (C) bathroom",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "lounge",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_2",
+          "0_7"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "dining room",
+          "lounge",
+          "bathroom"
+        ],
+        "context_rooms": "porch/terrace/deck, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the balcony on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "hallway",
+        "landmark_room": "balcony",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "hallway",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 36,
+    "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": [
+      282
+    ],
+    "metadata": {
+      "probe_object_id": 282,
+      "probe_category": "shower",
+      "probe_room": "bathroom",
+      "probe_region_id": "1_14",
+      "first_seen_timestep": 19,
+      "best_view_timestep": 20,
+      "num_sightings": 2,
+      "spatial_relation": "left",
+      "object_position": [
+        -6.12253999710083,
+        1.450319528579712,
+        3.832200050354004
+      ],
+      "agent_position_when_seen": [
+        -3.01678204536438,
+        0.15942811965942383,
+        -3.0594544410705566
+      ],
+      "pixel_centroid_x": 10.832951945080092,
+      "normalized_position_x": -0.9153675629290617,
+      "object_pixel_count": 437,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 37
+    }
+  }
+}

train/001784/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 1784,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Exit through the open door and make an immediate left. Enter the second room on your left, which is the bathroom and wait just inside the bathroom. ', instruction_tokens=[888, 2418, 2389, 1625, 757, 119, 1446, 118, 1233, 1360, 15, 860, 2389, 2054, 1994, 1613, 2706, 1360, 2634, 1267, 2389, 242, 119, 2579, 1293, 1249, 2389, 242, 15])",
+  "instruction_text": "Exit through the open door and make an immediate left. Enter the second room on your left, which is the bathroom and wait just inside the bathroom. ",
+  "num_steps": 33,
+  "total_unique_objects": 62,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 32,
+      "question": "Recall your earlier path. When you passed by the lighting in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "lighting",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_0",
+        "first_seen_timestep": 21,
+        "best_view_timestep": 23,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.9921290874481201,
+          1.976289987564087,
+          0.13991189002990723
+        ],
+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 203.96579247434437,
+        "normalized_position_x": 0.5934827537058154,
+        "object_pixel_count": 877,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 33
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 32,
+      "question": "Along your path, did you see the clothes before or after the chest_of_drawers?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        54
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chest_of_drawers",
+        "object_A_timestep": 0,
+        "object_B_id": 54,
+        "object_B_category": "clothes",
+        "object_B_timestep": 13,
+        "time_gap": 13,
+        "asked_first_object_id": 54,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 27,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) living room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bedroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "living room"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the chest_of_drawers to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "bed",
+        "object_A_position": [
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+          0.8014140129089355
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+        "object_B_id": 5,
+        "object_B_category": "chest_of_drawers",
+        "object_B_position": [
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+          3.092360019683838,
+          -0.6664149761199951
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.2089579850435257,
+          -4.761141777038574
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+        "agent_rotation": [
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+          0.0,
+          -0.9853483438491821,
+          0.0
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+      }
+    },
+    {
+      "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) stairs (B) kitchen (C) other room",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "kitchen",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_13",
+          "1_3"
+        ],
+        "correct_answer_room": "1_1",
+        "all_options": [
+          "stairs",
+          "kitchen",
+          "other room"
+        ],
+        "context_rooms": "hallway, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 32,
+    "question": "Along your path, did you see the clothes before or after the chest_of_drawers?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      5,
+      54
+    ],
+    "metadata": {
+      "object_A_id": 5,
+      "object_A_category": "chest_of_drawers",
+      "object_A_timestep": 0,
+      "object_B_id": 54,
+      "object_B_category": "clothes",
+      "object_B_timestep": 13,
+      "time_gap": 13,
+      "asked_first_object_id": 54,
+      "asked_second_object_id": 5
+    }
+  }
+}

train/001806/meta.json

@@ -0,0 +1,186 @@
+{
+  "episode_id": 1806,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='exit bathroom to hall, turn right and continue down hall into the bedroom, Stop at the dresser. ', instruction_tokens=[888, 242, 2438, 1121, 2494, 1968, 119, 569, 780, 1121, 1264, 2389, 273, 2278, 178, 2389, 797, 15])",
+  "instruction_text": "exit bathroom to hall, turn right and continue down hall into the bedroom, Stop at the dresser. ",
+  "num_steps": 35,
+  "total_unique_objects": 84,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 34,
+      "question": "Along your path, did you see the  before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        467
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "",
+        "object_A_timestep": 5,
+        "object_B_id": 467,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 467
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bedroom (C) lounge",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bedroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "bedroom",
+          "lounge"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the bed to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        304,
+        300
+      ],
+      "metadata": {
+        "object_A_id": 304,
+        "object_A_category": "curtain",
+        "object_A_position": [
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+        "object_B_id": 300,
+        "object_B_category": "bed",
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+          0.8973901271820068
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+        "agent_position": [
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+          -2.478390693664551
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) bathroom (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_21",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "bathroom",
+          "balcony",
+          "hallway"
+        ],
+        "context_rooms": "stairs, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 4,
+        "current_room": "bathroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 34,
+    "question": "Along your path, did you see the cabinet before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      70,
+      467
+    ],
+    "metadata": {
+      "object_A_id": 70,
+      "object_A_category": "",
+      "object_A_timestep": 5,
+      "object_B_id": 467,
+      "object_B_category": "cabinet",
+      "object_B_timestep": 8,
+      "time_gap": 3,
+      "asked_first_object_id": 467,
+      "asked_second_object_id": 70
+    }
+  }
+}

train/001963/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 1963,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the dining table and take a right. Continue straight past the first support beam on the left, then turn left and walk towards the front door. Wait just outside the door. ', instruction_tokens=[2584, 1728, 2389, 711, 2342, 119, 2352, 73, 1968, 15, 569, 2288, 1728, 2389, 946, 2322, 255, 1613, 2389, 1360, 2394, 2494, 1360, 119, 2584, 2452, 2389, 1019, 757, 15, 2579, 1293, 1665, 2389, 757, 15])",
+  "instruction_text": "Walk past the dining table and take a right. Continue straight past the first support beam on the left, then turn left and walk towards the front door. Wait just outside the door. ",
+  "num_steps": 70,
+  "total_unique_objects": 465,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the picture in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        955
+      ],
+      "metadata": {
+        "probe_object_id": 955,
+        "probe_category": "picture",
+        "probe_room": "closet",
+        "probe_region_id": "1_28",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 42,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
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+          4.7061896324157715,
+          -3.041189193725586
+        ],
+        "agent_position_when_seen": [
+          7.519497871398926,
+          0.11414599418640137,
+          2.521627902984619
+        ],
+        "pixel_centroid_x": 238.47916666666666,
+        "normalized_position_x": 0.8631184895833333,
+        "object_pixel_count": 192,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 70
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the  before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        204
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 204,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 92,
+        "asked_second_object_id": 204
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) closet (C) dining room",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "closet",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "laundryroom/mudroom",
+          "closet",
+          "dining room"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 19,
+      "question": "From your current viewpoint, is the fireplace to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        631,
+        676
+      ],
+      "metadata": {
+        "object_A_id": 631,
+        "object_A_category": "curtain",
+        "object_A_position": [
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+          2.1606998443603516,
+          1.286750316619873
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+        "object_B_id": 676,
+        "object_B_category": "fireplace",
+        "object_B_position": [
+          11.28219985961914,
+          1.1742095947265625,
+          5.8856096267700195
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.11414599418640137,
+          5.595992565155029
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+        "agent_rotation": [
+          -0.7603079080581665,
+          0.0,
+          0.6495628356933594,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 44,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) hallway (B) bathroom (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bathroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_16",
+          "0_18",
+          "0_20"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "hallway",
+          "bathroom",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "dining room, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 23,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 23,
+        "current_room": "dining room",
+        "landmark_room": "lounge",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 69,
+    "question": "Recall your earlier path. When you passed by the shelving in the dining room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      591
+    ],
+    "metadata": {
+      "probe_object_id": 591,
+      "probe_category": "shelving",
+      "probe_room": "dining room",
+      "probe_region_id": "0_16",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 3,
+      "num_sightings": 15,
+      "spatial_relation": "left",
+      "object_position": [
+        5.0025200843811035,
+        1.0704398155212402,
+        5.996090412139893
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+      "agent_position_when_seen": [
+        3.489180088043213,
+        0.11414599418640137,
+        5.633920192718506
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+      "pixel_centroid_x": 25.986436498150432,
+      "normalized_position_x": -0.7969809648581998,
+      "object_pixel_count": 811,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 70
+    }
+  }
+}

train/002009/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 2009,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward into the living room and take a left into the kitchen. In the kitchen stop right before the patio door on your right. ', instruction_tokens=[2584, 993, 1264, 2389, 1404, 1994, 119, 2352, 73, 1360, 1264, 2389, 1306, 15, 1237, 2389, 1306, 2278, 1968, 281, 2389, 1737, 757, 1613, 2706, 1968, 15])",
+  "instruction_text": "Walk forward into the living room and take a left into the kitchen. In the kitchen stop right before the patio door on your right. ",
+  "num_steps": 30,
+  "total_unique_objects": 104,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 29,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        120
+      ],
+      "metadata": {
+        "probe_object_id": 120,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_5",
+        "first_seen_timestep": 24,
+        "best_view_timestep": 24,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.291229724884033,
+          -0.21461868286132812
+        ],
+        "agent_position_when_seen": [
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+          0.31627801060676575,
+          2.8905951976776123
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+        "pixel_centroid_x": 2.4622641509433962,
+        "normalized_position_x": -0.9807635613207547,
+        "object_pixel_count": 106,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 30
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 13,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) kitchen (C) dining room",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "kitchen",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "kitchen",
+          "dining room"
+        ],
+        "query_timestep_internal": 13,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the furniture to the left or right of the fireplace?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        343,
+        207
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+      "metadata": {
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+        "object_A_category": "fireplace",
+        "object_A_position": [
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+        "object_B_category": "furniture",
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+          6.050650119781494
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+        "agent_position": [
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+          0.32837051153182983,
+          2.9531452655792236
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+        "agent_rotation": [
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+          0.7500333786010742,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 29,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) bedroom (B) hallway (C) bathroom",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "hallway",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_11",
+        "adjacent_rooms": [
+          "0_10",
+          "0_15",
+          "0_17",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "bathroom"
+        ],
+        "context_rooms": "laundryroom/mudroom, living room"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 29,
+    "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      120
+    ],
+    "metadata": {
+      "probe_object_id": 120,
+      "probe_category": "bed",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_5",
+      "first_seen_timestep": 24,
+      "best_view_timestep": 24,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        -1.1579599380493164,
+        3.291229724884033,
+        -0.21461868286132812
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+      "agent_position_when_seen": [
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+        0.31627801060676575,
+        2.8905951976776123
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+      "pixel_centroid_x": 2.4622641509433962,
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+      "object_pixel_count": 106,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 30
+    }
+  }
+}

train/002138/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 2138,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Walk past thermostat on left. Walk past back of leather sectional on right. Make left after column. Wait at bar stool. ', instruction_tokens=[2584, 1728, 2397, 1613, 1360, 15, 2584, 1728, 190, 1605, 1354, 2057, 1613, 1968, 15, 1446, 1360, 94, 541, 15, 2579, 178, 217, 2275, 15])",
+  "instruction_text": "Walk past thermostat on left. Walk past back of leather sectional on right. Make left after column. Wait at bar stool. ",
+  "num_steps": 49,
+  "total_unique_objects": 298,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the lighting in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        99
+      ],
+      "metadata": {
+        "probe_object_id": 99,
+        "probe_category": "lighting",
+        "probe_room": "dining room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 21,
+        "best_view_timestep": 26,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
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+          1.969519853591919,
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+        "agent_position_when_seen": [
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+          2.9563918113708496
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 49
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the  before or after the stool?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        20,
+        40
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+      "metadata": {
+        "object_A_id": 20,
+        "object_A_category": "",
+        "object_A_timestep": 5,
+        "object_B_id": 40,
+        "object_B_category": "stool",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 20,
+        "asked_second_object_id": 40
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 4,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) entryway/foyer/lobby (C) other room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
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+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        77,
+        54
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+      "metadata": {
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+        "object_A_category": "table",
+        "object_A_position": [
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+          2.5529000759124756
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+        "object_B_id": 54,
+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          1.2076798677444458,
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+        "agent_position": [
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+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 9,
+    "question": "From your current viewpoint, is the shelving to the left or right of the fireplace?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      85,
+      551
+    ],
+    "metadata": {
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+      "object_A_category": "fireplace",
+      "object_A_position": [
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+        0.9650869369506836,
+        5.61870002746582
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+      "object_B_id": 551,
+      "object_B_category": "shelving",
+      "object_B_position": [
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+        1.8534698486328125,
+        0.006506681442260742
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+      "spatial_relation": "left",
+      "agent_position": [
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+        0.12522734701633453,
+        5.937129974365234
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+      "agent_rotation": [
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+        0.0,
+        0.3546256422996521,
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+    }
+  }
+}

train/002196/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 2196,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the bedroom into the hallway. Walk down the hall over the floor rug, passed the cabinet against the wall and the stairwell. Walk into the bedroom with the twin bed with blue blankets and pillows. ', instruction_tokens=[2584, 1658, 1605, 2389, 273, 1264, 2389, 1126, 15, 2584, 780, 2389, 1121, 1669, 2389, 959, 2010, 1725, 2389, 408, 96, 2389, 2593, 119, 2389, 2227, 15, 2584, 1264, 2389, 273, 2661, 2389, 2505, 267, 2661, 324, 320, 119, 1788, 15])",
+  "instruction_text": "Walk out of the bedroom into the hallway. Walk down the hall over the floor rug, passed the cabinet against the wall and the stairwell. Walk into the bedroom with the twin bed with blue blankets and pillows. ",
+  "num_steps": 53,
+  "total_unique_objects": 168,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 52,
+      "question": "Recall your earlier path. When you passed by the objects in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        108
+      ],
+      "metadata": {
+        "probe_object_id": 108,
+        "probe_category": "objects",
+        "probe_room": "stairs",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 28,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.28659987449646,
+          1.7120602130889893
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+        "agent_position_when_seen": [
+          -8.218100547790527,
+          2.9162778854370117,
+          -1.9332364797592163
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+        "pixel_centroid_x": 27.92094861660079,
+        "normalized_position_x": -0.7818675889328064,
+        "object_pixel_count": 506,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 53
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 52,
+      "question": "Along your path, did you see the cabinet before or after the bed?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        120,
+        428
+      ],
+      "metadata": {
+        "object_A_id": 120,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 428,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 428,
+        "asked_second_object_id": 120
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) stairs (C) hallway",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "stairs",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "laundryroom/mudroom",
+          "stairs",
+          "hallway"
+        ],
+        "query_timestep_internal": 45,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the sink to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        207,
+        415
+      ],
+      "metadata": {
+        "object_A_id": 207,
+        "object_A_category": "furniture",
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+        "object_B_category": "sink",
+        "object_B_position": [
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+          0.8455829620361328,
+          3.611110210418701
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+        "spatial_relation": "left",
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+          2.9162778854370117,
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+          -0.7864890098571777,
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) living room (B) bathroom (C) bedroom",
+      "answer": "A",
+      "options": [
+        "living room",
+        "bathroom",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_14",
+          "0_15",
+          "0_16",
+          "0_4"
+        ],
+        "correct_answer_room": "0_15",
+        "all_options": [
+          "living room",
+          "bathroom",
+          "bedroom"
+        ],
+        "context_rooms": "laundryroom/mudroom, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "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": 4,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 1,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) hallway (C) kitchen",
+    "answer": "B",
+    "options": [
+      "familyroom/lounge",
+      "hallway",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "familyroom/lounge",
+        "hallway",
+        "kitchen"
+      ],
+      "query_timestep_internal": 1,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

train/002205/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 2205,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Exit the closet space, go through the room and take a right, exiting the room. ', instruction_tokens=[888, 2389, 521, 2193, 1067, 2418, 2389, 1994, 119, 2352, 73, 1968, 890, 2389, 1994, 15])",
+  "instruction_text": "Exit the closet space, go through the room and take a right, exiting the room. ",
+  "num_steps": 34,
+  "total_unique_objects": 435,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "tv_monitor",
+        "probe_room": "living room",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 26,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
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+          2.4701995849609375,
+          5.7350592613220215
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+        "agent_position_when_seen": [
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+          0.003321051597595215,
+          -15.795841217041016
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+        "pixel_centroid_x": 23.975609756097562,
+        "normalized_position_x": -0.8126905487804879,
+        "object_pixel_count": 123,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 34
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 33,
+      "question": "Along your path, did you see the chair before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        193
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 193,
+        "object_B_category": "objects",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 193
+      }
+    },
+    {
+      "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) bathroom (B) laundryroom/mudroom (C) bedroom",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "laundryroom/mudroom",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bathroom",
+          "laundryroom/mudroom",
+          "bedroom"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the sofa to the left or right of the bed?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        139,
+        57
+      ],
+      "metadata": {
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+        "object_A_category": "bed",
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+          7.702909469604492
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+        "object_B_id": 57,
+        "object_B_category": "sofa",
+        "object_B_position": [
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+          0.4930659532546997,
+          1.9912999868392944
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+        "spatial_relation": "right",
+        "agent_position": [
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+    },
+    {
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+      "query_timestep": 20,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) dining room (B) bedroom (C) hallway",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "dining room",
+          "bedroom",
+          "hallway"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 33,
+    "question": "Along your path, did you see the objects before or after the chair?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      5,
+      193
+    ],
+    "metadata": {
+      "object_A_id": 5,
+      "object_A_category": "chair",
+      "object_A_timestep": 0,
+      "object_B_id": 193,
+      "object_B_category": "objects",
+      "object_B_timestep": 4,
+      "time_gap": 4,
+      "asked_first_object_id": 193,
+      "asked_second_object_id": 5
+    }
+  }
+}

train/002251/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 2251,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7N2EKCX4Sj/D7N2EKCX4Sj.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the dining room and take a right. Walk around the tables and go to the door at the end of the room on the right. Stop once you exit the room and are on the patio. ', instruction_tokens=[2584, 1264, 2389, 711, 1994, 119, 2352, 73, 1968, 15, 2584, 159, 2389, 2347, 119, 1067, 2438, 2389, 757, 178, 2389, 851, 1605, 2389, 1994, 1613, 2389, 1968, 15, 2278, 1615, 2703, 888, 2389, 1994, 119, 149, 1613, 2389, 1737, 15])",
+  "instruction_text": "Walk into the dining room and take a right. Walk around the tables and go to the door at the end of the room on the right. Stop once you exit the room and are on the patio. ",
+  "num_steps": 70,
+  "total_unique_objects": 236,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 69,
+      "question": "Recall your earlier path. When you passed by the cabinet in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        614
+      ],
+      "metadata": {
+        "probe_object_id": 614,
+        "probe_category": "cabinet",
+        "probe_room": "hallway",
+        "probe_region_id": "1_16",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 23,
+        "num_sightings": 2,
+        "spatial_relation": "left",
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+          0.8939881324768066,
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 70
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 69,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        42,
+        77
+      ],
+      "metadata": {
+        "object_A_id": 42,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 77,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 42,
+        "asked_second_object_id": 77
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 6,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) dining room (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "dining room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "hallway",
+          "dining room",
+          "familyroom/lounge"
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+        "query_timestep_internal": 6,
+        "rooms_visited": [
+          "dining room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 26,
+      "question": "From your current viewpoint, is the column to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        100,
+        112
+      ],
+      "metadata": {
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+        "object_A_category": "table",
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+        "object_B_category": "column",
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+        "agent_position": [
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+          1.8791165351867676
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+          -0.8644236326217651,
+          0.0
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+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 31,
+    "question": "From your current viewpoint, is the fireplace to the left or right of the shelving?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      150,
+      96
+    ],
+    "metadata": {
+      "object_A_id": 150,
+      "object_A_category": "shelving",
+      "object_A_position": [
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+        -2.234919309616089,
+        -4.801479339599609
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+      "object_B_id": 96,
+      "object_B_category": "fireplace",
+      "object_B_position": [
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+        -1.6790298223495483,
+        -1.7967300415039062
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+      "spatial_relation": "right",
+      "agent_position": [
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+        -3.192077875137329,
+        2.1922125816345215
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+      "agent_rotation": [
+        0.611292839050293,
+        0.0,
+        -0.7914045453071594,
+        0.0
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+    }
+  }
+}

train/002269/meta.json

@@ -0,0 +1,215 @@
+{
+  "episode_id": 2269,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway and go into the bedroom and wait. ', instruction_tokens=[2584, 780, 2389, 1126, 119, 1067, 1264, 2389, 273, 119, 2579, 15])",
+  "instruction_text": "Walk down the hallway and go into the bedroom and wait. ",
+  "num_steps": 36,
+  "total_unique_objects": 214,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 35,
+      "question": "Recall your earlier path. When you passed by the table in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244
+      ],
+      "metadata": {
+        "probe_object_id": 244,
+        "probe_category": "table",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 2,
+        "spatial_relation": "right",
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+          0.47933197021484375,
+          -6.901549816131592
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+        "object_pixel_count": 621,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 36
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 29,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) bathroom (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 4,
+      "question": "From your current viewpoint, is the bed to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85,
+        92
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "cabinet",
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+        "object_B_category": "bed",
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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 bedroom you see now directly connected to? (A) toilet (B) kitchen (C) living room",
+      "answer": "A",
+      "options": [
+        "toilet",
+        "kitchen",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_4",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "toilet",
+          "kitchen",
+          "living room"
+        ],
+        "context_rooms": "porch/terrace/deck, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "hallway",
+        "landmark_room": "living room",
+        "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": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 35,
+    "question": "Recall your earlier path. When you passed by the table in the bathroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      244
+    ],
+    "metadata": {
+      "probe_object_id": 244,
+      "probe_category": "table",
+      "probe_room": "bathroom",
+      "probe_region_id": "0_12",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 1,
+      "num_sightings": 2,
+      "spatial_relation": "right",
+      "object_position": [
+        -2.0554099082946777,
+        0.47933197021484375,
+        -6.901549816131592
+      ],
+      "agent_position_when_seen": [
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+        0.05631500482559204,
+        -12.353799819946289
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+      "pixel_centroid_x": 230.57648953301128,
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+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 36
+    }
+  }
+}

train/002355/meta.json

@@ -0,0 +1,126 @@
+{
+  "episode_id": 2355,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Walk around the desk and towards the the door at the far end of the room. Stop off the rug before you leave the room. ', instruction_tokens=[2584, 159, 2389, 692, 119, 2452, 2389, 2389, 757, 178, 2389, 914, 851, 1605, 2389, 1994, 15, 2278, 1606, 2389, 2010, 281, 2703, 1355, 2389, 1994, 15])",
+  "instruction_text": "Walk around the desk and towards the the door at the far end of the room. Stop off the rug before you leave the room. ",
+  "num_steps": 43,
+  "total_unique_objects": 366,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "question": "Recall your earlier path. When you passed by the curtain in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        475
+      ],
+      "metadata": {
+        "probe_object_id": 475,
+        "probe_category": "curtain",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "1_21",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 26,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
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+          1.9841203689575195,
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+        "agent_position_when_seen": [
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+          5.864895343780518
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+        "pixel_centroid_x": 222.51908396946564,
+        "normalized_position_x": 0.7384303435114503,
+        "object_pixel_count": 131,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 43
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 42,
+      "question": "Along your path, did you see the objects before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        956,
+        695
+      ],
+      "metadata": {
+        "object_A_id": 956,
+        "object_A_category": "objects",
+        "object_A_timestep": 2,
+        "object_B_id": 695,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 956,
+        "asked_second_object_id": 695
+      }
+    },
+    {
+      "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) meetingroom/conferenceroom (B) balcony (C) stairs",
+      "answer": "A",
+      "options": [
+        "meetingroom/conferenceroom",
+        "balcony",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "balcony",
+          "stairs"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 42,
+    "question": "Along your path, did you see the objects before or after the objects?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      956,
+      695
+    ],
+    "metadata": {
+      "object_A_id": 956,
+      "object_A_category": "objects",
+      "object_A_timestep": 2,
+      "object_B_id": 695,
+      "object_B_category": "objects",
+      "object_B_timestep": 5,
+      "time_gap": 3,
+      "asked_first_object_id": 695,
+      "asked_second_object_id": 956
+    }
+  }
+}

train/002420/meta.json

@@ -0,0 +1,227 @@
+{
+  "episode_id": 2420,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Leave the bedroom and go down the hall then wait outside of the second room on the left. ', instruction_tokens=[1355, 2389, 273, 119, 1067, 780, 2389, 1121, 2394, 2579, 1665, 1605, 2389, 2054, 1994, 1613, 2389, 1360, 15])",
+  "instruction_text": "Leave the bedroom and go down the hall then wait outside of the second room on the left. ",
+  "num_steps": 46,
+  "total_unique_objects": 212,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 45,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        396
+      ],
+      "metadata": {
+        "probe_object_id": 396,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 22,
+        "best_view_timestep": 37,
+        "num_sightings": 17,
+        "spatial_relation": "right",
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+        "object_pixel_count": 1229,
+        "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 objects before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        373,
+        120
+      ],
+      "metadata": {
+        "object_A_id": 373,
+        "object_A_category": "objects",
+        "object_A_timestep": 4,
+        "object_B_id": 120,
+        "object_B_category": "cushion",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 373,
+        "asked_second_object_id": 120
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 39,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) bathroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "familyroom/lounge",
+        "bathroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "familyroom/lounge",
+          "bathroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the picture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        395,
+        200
+      ],
+      "metadata": {
+        "object_A_id": 395,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+          0.9186671376228333,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "You are currently in the bedroom, and you can see the bathroom, hallway. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) outdoor (B) bedroom (C) dining room",
+      "answer": "B",
+      "options": [
+        "outdoor",
+        "bedroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_10",
+          "1_14",
+          "1_15",
+          "1_9"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "outdoor",
+          "bedroom",
+          "dining room"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "bedroom",
+        "landmark_room": "lounge",
+        "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 45,
+    "question": "Along your path, did you see the cushion before or after the objects?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      373,
+      120
+    ],
+    "metadata": {
+      "object_A_id": 373,
+      "object_A_category": "objects",
+      "object_A_timestep": 4,
+      "object_B_id": 120,
+      "object_B_category": "cushion",
+      "object_B_timestep": 7,
+      "time_gap": 3,
+      "asked_first_object_id": 120,
+      "asked_second_object_id": 373
+    }
+  }
+}

train/002452/meta.json

@@ -0,0 +1,241 @@
+{
+  "episode_id": 2452,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JF19kD82Mey/JF19kD82Mey.glb",
+  "instruction": "InstructionData(instruction_text='exit room by closet, go to end of hall, turn left, stop next to picture on wall. ', instruction_tokens=[888, 1994, 404, 521, 1067, 2438, 851, 1605, 1121, 2494, 1360, 2278, 1576, 2438, 1776, 1613, 2593, 15])",
+  "instruction_text": "exit room by closet, go to end of hall, turn left, stop next to picture on wall. ",
+  "num_steps": 55,
+  "total_unique_objects": 250,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the curtain in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        30
+      ],
+      "metadata": {
+        "probe_object_id": 30,
+        "probe_category": "curtain",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_1",
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+        "best_view_timestep": 44,
+        "num_sightings": 20,
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+          4.559800148010254,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the curtain before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        30,
+        13
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+        "object_A_id": 30,
+        "object_A_category": "curtain",
+        "object_A_timestep": 5,
+        "object_B_id": 13,
+        "object_B_category": "",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 30,
+        "asked_second_object_id": 13
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 17,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) stairs (C) bedroom",
+      "answer": "C",
+      "options": [
+        "living room",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "living room",
+          "stairs",
+          "bedroom"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "right",
+      "options": [
+        "left",
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+      "probe_objects": [
+        87,
+        123
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+      "metadata": {
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+        "object_A_category": "sofa",
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+    {
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+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) bedroom (B) living room (C) office",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "living room",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_2",
+          "1_3",
+          "1_7"
+        ],
+        "correct_answer_room": "1_1",
+        "all_options": [
+          "bedroom",
+          "living room",
+          "office"
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+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 54,
+    "question": "Recall your earlier path. When you passed by the tv_monitor in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      28
+    ],
+    "metadata": {
+      "probe_object_id": 28,
+      "probe_category": "tv_monitor",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_1",
+      "first_seen_timestep": 16,
+      "best_view_timestep": 45,
+      "num_sightings": 20,
+      "spatial_relation": "right",
+      "object_position": [
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+        4.972629070281982,
+        7.289100646972656
+      ],
+      "agent_position_when_seen": [
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+        3.318902015686035,
+        0.4499049186706543
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+      "pixel_centroid_x": 211.35733333333334,
+      "normalized_position_x": 0.6512291666666667,
+      "object_pixel_count": 375,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 55
+    }
+  }
+}

train/002502/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 2502,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Move through the room with the marble staircase to your left. Move through the doorway located next to the glass vase. Pass across the hallway and stop at the doorway of the room directly across from the first doorway you passed through. ', instruction_tokens=[1537, 2418, 2389, 1994, 2661, 2389, 1462, 2220, 2438, 2706, 1360, 15, 1537, 2418, 2389, 766, 1410, 1576, 2438, 2389, 1057, 2546, 15, 1721, 85, 2389, 1126, 119, 2278, 178, 2389, 766, 1605, 2389, 1994, 720, 85, 1017, 2389, 946, 766, 2703, 1725, 2418, 15])",
+  "instruction_text": "Move through the room with the marble staircase to your left. Move through the doorway located next to the glass vase. Pass across the hallway and stop at the doorway of the room directly across from the first doorway you passed through. ",
+  "num_steps": 28,
+  "total_unique_objects": 52,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 27,
+      "question": "Recall your earlier path. When you passed by the picture in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        156
+      ],
+      "metadata": {
+        "probe_object_id": 156,
+        "probe_category": "picture",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 13,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.1899001598358154,
+          -1.2448999881744385
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+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 23.46951219512195,
+        "normalized_position_x": -0.8166444359756098,
+        "object_pixel_count": 1640,
+        "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 bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        135,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 135,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 5,
+        "object_B_category": "bed",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 135,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "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) spa/sauna (B) entryway/foyer/lobby (C) other room",
+      "answer": "B",
+      "options": [
+        "spa/sauna",
+        "entryway/foyer/lobby",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "spa/sauna",
+          "entryway/foyer/lobby",
+          "other room"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the stairs to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        147,
+        145
+      ],
+      "metadata": {
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+        "object_A_category": "railing",
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+        "object_B_id": 145,
+        "object_B_category": "stairs",
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+        "spatial_relation": "left",
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+          0.09863299131393433,
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+          0.4384709596633911,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 22,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) spa/sauna (B) utilityroom/toolroom (C) other room",
+      "answer": "A",
+      "options": [
+        "spa/sauna",
+        "utilityroom/toolroom",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_10",
+          "0_12",
+          "0_14",
+          "0_15",
+          "0_2",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "spa/sauna",
+          "utilityroom/toolroom",
+          "other room"
+        ],
+        "context_rooms": "spa/sauna, stairs"
+      }
+    },
+    {
+      "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 27,
+    "question": "Along your path, did you see the bed before or after the shelving?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      135,
+      5
+    ],
+    "metadata": {
+      "object_A_id": 135,
+      "object_A_category": "shelving",
+      "object_A_timestep": 0,
+      "object_B_id": 5,
+      "object_B_category": "bed",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 5,
+      "asked_second_object_id": 135
+    }
+  }
+}

train/002607/meta.json

@@ -0,0 +1,204 @@
+{
+  "episode_id": 2607,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Go through the door beside the sink and through the kitchen to the dining room. Walk past the buffet table into the living room. Stop right beside the window. ', instruction_tokens=[1067, 2418, 2389, 757, 293, 2389, 2132, 119, 2418, 2389, 1306, 2438, 2389, 711, 1994, 15, 2584, 1728, 2389, 379, 2342, 1264, 2389, 1404, 1994, 15, 2278, 1968, 293, 2389, 2652, 15])",
+  "instruction_text": "Go through the door beside the sink and through the kitchen to the dining room. Walk past the buffet table into the living room. Stop right beside the window. ",
+  "num_steps": 55,
+  "total_unique_objects": 262,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the plant in the dining room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        243
+      ],
+      "metadata": {
+        "probe_object_id": 243,
+        "probe_category": "plant",
+        "probe_room": "dining room",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 44,
+        "best_view_timestep": 46,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          1.036270022392273,
+          1.4015799760818481
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+        "agent_position_when_seen": [
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+          0.11627800017595291,
+          0.5885337591171265
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+        "pixel_centroid_x": 243.05307262569832,
+        "normalized_position_x": 0.8988521298882681,
+        "object_pixel_count": 358,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 55
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 54,
+      "question": "Along your path, did you see the bathtub before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        251,
+        257
+      ],
+      "metadata": {
+        "object_A_id": 251,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 3,
+        "object_B_id": 257,
+        "object_B_category": "table",
+        "object_B_timestep": 7,
+        "time_gap": 4,
+        "asked_first_object_id": 251,
+        "asked_second_object_id": 257
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) familyroom/lounge (C) living room",
+      "answer": "A",
+      "options": [
+        "laundryroom/mudroom",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "laundryroom/mudroom",
+        "all_options": [
+          "laundryroom/mudroom",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "dining room",
+          "kitchen",
+          "laundryroom/mudroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 35,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) laundryroom/mudroom (B) bedroom (C) bathroom",
+      "answer": "A",
+      "options": [
+        "laundryroom/mudroom",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_14",
+          "0_15",
+          "0_16",
+          "0_4"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bedroom",
+          "bathroom"
+        ],
+        "context_rooms": "dining room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 17,
+      "question": "From your current position, will you pass through the living room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 17,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "living room",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 54,
+    "question": "Recall your earlier path. When you passed by the seating in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      279
+    ],
+    "metadata": {
+      "probe_object_id": 279,
+      "probe_category": "seating",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_13",
+      "first_seen_timestep": 13,
+      "best_view_timestep": 15,
+      "num_sightings": 5,
+      "spatial_relation": "left",
+      "object_position": [
+        -11.519800186157227,
+        0.31281042098999023,
+        -4.880859375
+      ],
+      "agent_position_when_seen": [
+        -1.441949486732483,
+        0.11627800017595291,
+        4.845527648925781
+      ],
+      "pixel_centroid_x": 11.71111111111111,
+      "normalized_position_x": -0.9085069444444445,
+      "object_pixel_count": 180,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 55
+    }
+  }
+}

train/002663/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 2663,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Leave the room and go into the room across the hall then wait by the bed in the room. ', instruction_tokens=[1355, 2389, 1994, 119, 1067, 1264, 2389, 1994, 85, 2389, 1121, 2394, 2579, 404, 2389, 267, 1237, 2389, 1994, 15])",
+  "instruction_text": "Leave the room and go into the room across the hall then wait by the bed in the room. ",
+  "num_steps": 73,
+  "total_unique_objects": 228,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 72,
+      "question": "Recall your earlier path. When you passed by the sink in the spa/sauna, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        533
+      ],
+      "metadata": {
+        "probe_object_id": 533,
+        "probe_category": "sink",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_27",
+        "first_seen_timestep": 42,
+        "best_view_timestep": 48,
+        "num_sightings": 9,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.461869955062866,
+          0.8843350410461426,
+          -1.4743800163269043
+        ],
+        "agent_position_when_seen": [
+          -5.219292640686035,
+          0.12697899341583252,
+          -5.073747158050537
+        ],
+        "pixel_centroid_x": 242.76,
+        "normalized_position_x": 0.8965624999999999,
+        "object_pixel_count": 425,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 73
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 72,
+      "question": "Along your path, did you see the objects before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        93
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 93,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 93,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "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) other room (B) spa/sauna (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "other room",
+        "spa/sauna",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "other room",
+          "spa/sauna",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 29,
+      "question": "From your current viewpoint, is the mirror to the left or right of the bathtub?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        525,
+        255
+      ],
+      "metadata": {
+        "object_A_id": 525,
+        "object_A_category": "bathtub",
+        "object_A_position": [
+          -1.8780999183654785,
+          0.5712087154388428,
+          2.4695098400115967
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+        "object_B_id": 255,
+        "object_B_category": "mirror",
+        "object_B_position": [
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+          1.6571500301361084,
+          -1.7878999710083008
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.12697899341583252,
+          -6.312679290771484
+        ],
+        "agent_rotation": [
+          0.2866132855415344,
+          0.0,
+          -0.9580464363098145,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 42,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) stairs (B) spa/sauna (C) office",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "spa/sauna",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_15",
+          "0_18",
+          "0_24"
+        ],
+        "correct_answer_room": "0_15",
+        "all_options": [
+          "stairs",
+          "spa/sauna",
+          "office"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "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": 18,
+        "current_room": "spa/sauna",
+        "landmark_room": "stairs",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 72,
+    "question": "Recall your earlier path. When you passed by the seating in the spa/sauna, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      166
+    ],
+    "metadata": {
+      "probe_object_id": 166,
+      "probe_category": "seating",
+      "probe_room": "spa/sauna",
+      "probe_region_id": "0_6",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        -18.295799255371094,
+        0.2673170566558838,
+        -3.15024995803833
+      ],
+      "agent_position_when_seen": [
+        -7.878349781036377,
+        0.12697899341583252,
+        -10.277400016784668
+      ],
+      "pixel_centroid_x": 19.18,
+      "normalized_position_x": -0.85015625,
+      "object_pixel_count": 100,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 73
+    }
+  }
+}

train/002670/meta.json

@@ -0,0 +1,60 @@
+{
+  "episode_id": 2670,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb",
+  "instruction": "InstructionData(instruction_text='Pivot left, then turn right to walk down the hallway towards the leather chairs and away from the steps. Walk past several rooms to the end of the hallway where you can see two rooms. One with a large bathtub (on the left) and the other with a bed (on the right). Walk into the room on the right with the bed, but stop when you are standing just inside the doorway. ', instruction_tokens=[1799, 1360, 2394, 2494, 1968, 2438, 2584, 780, 2389, 1126, 2452, 2389, 1354, 458, 119, 187, 1017, 2389, 2265, 15, 2584, 1728, 2081, 1995, 2438, 2389, 851, 1605, 2389, 1126, 2633, 2703, 417, 2059, 2509, 1995, 15, 1616, 2661, 73, 1336, 246, 10, 1613, 2389, 1360, 11, 119, 2389, 1651, 2661, 73, 267, 10, 1613, 2389, 1968, 12, 2584, 1264, 2389, 1994, 1613, 2389, 1968, 2661, 2389, 267, 398, 2278, 2632, 2703, 149, 2236, 1293, 1249, 2389, 766, 15])",
+  "instruction_text": "Pivot left, then turn right to walk down the hallway towards the leather chairs and away from the steps. Walk past several rooms to the end of the hallway where you can see two rooms. One with a large bathtub (on the left) and the other with a bed (on the right). Walk into the room on the right with the bed, but stop when you are standing just inside the doorway. ",
+  "num_steps": 58,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "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) bedroom (B) toilet (C) office",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "toilet",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "toilet",
+          "office"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) hallway (B) toilet (C) closet",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "toilet",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "toilet",
+        "closet"
+      ],
+      "query_timestep_internal": 18,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

train/002746/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 2746,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Walk around the potted plant and turn left. walk past the Jacuzzi tub and turn right. Walk to the left of the pillar into the building. Turn right and stop just inside the bedroom. ', instruction_tokens=[2584, 159, 2389, 1864, 1810, 119, 2494, 1360, 15, 2584, 1728, 2389, 1279, 2488, 119, 2494, 1968, 15, 2584, 2438, 2389, 1360, 1605, 2389, 1783, 1264, 2389, 381, 15, 2494, 1968, 119, 2278, 1293, 1249, 2389, 273, 15])",
+  "instruction_text": "Walk around the potted plant and turn left. walk past the Jacuzzi tub and turn right. Walk to the left of the pillar into the building. Turn right and stop just inside the bedroom. ",
+  "num_steps": 88,
+  "total_unique_objects": 258,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 87,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        464
+      ],
+      "metadata": {
+        "probe_object_id": 464,
+        "probe_category": "sofa",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_19",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 30,
+        "num_sightings": 19,
+        "spatial_relation": "left",
+        "object_position": [
+          9.741990089416504,
+          0.5075113773345947,
+          -3.12568998336792
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+        "agent_position_when_seen": [
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+          0.14794525504112244,
+          7.470149517059326
+        ],
+        "pixel_centroid_x": 15.290909090909091,
+        "normalized_position_x": -0.8805397727272727,
+        "object_pixel_count": 330,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 88
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 87,
+      "question": "Along your path, did you see the objects before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        70
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 70,
+        "object_B_category": "objects",
+        "object_B_timestep": 15,
+        "time_gap": 15,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) dining room (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "dining room",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "laundryroom/mudroom",
+          "dining room",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the curtain?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        407,
+        420
+      ],
+      "metadata": {
+        "object_A_id": 407,
+        "object_A_category": "curtain",
+        "object_A_position": [
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+          1.8803296089172363,
+          1.9875901937484741
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+        "object_B_id": 420,
+        "object_B_category": "tv_monitor",
+        "object_B_position": [
+          6.5731000900268555,
+          1.7304598093032837,
+          2.0214595794677734
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+        "spatial_relation": "right",
+        "agent_position": [
+          -5.278069972991943,
+          0.04283595085144043,
+          6.233960151672363
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+        "agent_rotation": [
+          0.7818282246589661,
+          0.0,
+          -0.6234939098358154,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) closet (B) bedroom (C) outdoor",
+      "answer": "C",
+      "options": [
+        "closet",
+        "bedroom",
+        "outdoor"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_19",
+        "adjacent_rooms": [
+          "0_11",
+          "0_17",
+          "0_20",
+          "0_22",
+          "0_24"
+        ],
+        "correct_answer_room": "0_24",
+        "all_options": [
+          "closet",
+          "bedroom",
+          "outdoor"
+        ],
+        "context_rooms": "garage, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 1,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "dining room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 29,
+    "question": "From your current viewpoint, is the shower to the left or right of the sofa?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      464,
+      172
+    ],
+    "metadata": {
+      "object_A_id": 464,
+      "object_A_category": "sofa",
+      "object_A_position": [
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+      "object_B_category": "shower",
+      "object_B_position": [
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+        -0.7202088832855225,
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+    }
+  }
+}

train/002792/meta.json

@@ -0,0 +1,245 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
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+  "num_steps": 65,
+  "total_unique_objects": 229,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the mirror in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        153
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+      "metadata": {
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+        "probe_category": "mirror",
+        "probe_room": "bedroom",
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+    {
+      "query_type": "L1.2_TemporalRelationRecall",
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+      "question": "Along your path, did you see the chair before or after the ?",
+      "answer": "after",
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+        "asked_second_object_id": 34
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+    {
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) rec/game (C) hallway",
+      "answer": "C",
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+        "laundryroom/mudroom",
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+        "hallway"
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+      "question": "From your current viewpoint, is the table to the left or right of the objects?",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) closet (B) stairs (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "closet",
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+        "familyroom/lounge"
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+      "probe_objects": [],
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": {
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+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "kitchen",
+        "remaining_rooms": [
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+        "negative_kind": null,
+        "passed_rooms": [
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+    "question": "From your current viewpoint, is the mirror to the left or right of the objects?",
+    "answer": "right",
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+  }
+}

train/002944/meta.json

@@ -0,0 +1,126 @@
+{
+  "episode_id": 2944,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the dining room table and chairs and turn right. Turn right and stop by the Dining room table and chairs. ', instruction_tokens=[2584, 1728, 2389, 711, 1994, 2342, 119, 458, 119, 2494, 1968, 15, 2494, 1968, 119, 2278, 404, 2389, 711, 1994, 2342, 119, 458, 15])",
+  "instruction_text": "Walk past the dining room table and chairs and turn right. Turn right and stop by the Dining room table and chairs. ",
+  "num_steps": 54,
+  "total_unique_objects": 73,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the chair in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        141
+      ],
+      "metadata": {
+        "probe_object_id": 141,
+        "probe_category": "chair",
+        "probe_room": "living room",
+        "probe_region_id": "0_7",
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+        "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 mirror before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
+        67,
+        85
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+      "metadata": {
+        "object_A_id": 67,
+        "object_A_category": "mirror",
+        "object_A_timestep": 4,
+        "object_B_id": 85,
+        "object_B_category": "cushion",
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+        "time_gap": 3,
+        "asked_first_object_id": 67,
+        "asked_second_object_id": 85
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 19,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) tv (B) dining room (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "tv",
+        "dining room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "tv",
+          "dining room",
+          "familyroom/lounge"
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+        "rooms_visited": [
+          "dining room"
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+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 53,
+    "question": "Along your path, did you see the cushion before or after the mirror?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
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+    "probe_objects": [
+      67,
+      85
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+      "object_A_category": "mirror",
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+      "object_B_id": 85,
+      "object_B_category": "cushion",
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+      "time_gap": 3,
+      "asked_first_object_id": 85,
+      "asked_second_object_id": 67
+    }
+  }
+}

train/002976/meta.json

@@ -0,0 +1,215 @@
+{
+  "episode_id": 2976,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/e9zR4mvMWw7/e9zR4mvMWw7.glb",
+  "instruction": "InstructionData(instruction_text='Travel to the bedstand left of the bed, and exit out the door to the left. Turn left and down the hallway to the bathroom sink. ', instruction_tokens=[2461, 2438, 2389, 279, 1360, 1605, 2389, 267, 119, 888, 1658, 2389, 757, 2438, 2389, 1360, 15, 2494, 1360, 119, 780, 2389, 1126, 2438, 2389, 242, 2132, 15])",
+  "instruction_text": "Travel to the bedstand left of the bed, and exit out the door to the left. Turn left and down the hallway to the bathroom sink. ",
+  "num_steps": 59,
+  "total_unique_objects": 213,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the furniture in the lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        11
+      ],
+      "metadata": {
+        "probe_object_id": 11,
+        "probe_category": "furniture",
+        "probe_room": "lounge",
+        "probe_region_id": "0_0",
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+        "num_sightings": 1,
+        "spatial_relation": "right",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 59
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 58,
+      "question": "Along your path, did you see the objects before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
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+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "objects",
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+        "object_B_id": 376,
+        "object_B_category": "objects",
+        "object_B_timestep": 8,
+        "time_gap": 8,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 376
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 47,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) garage (C) living room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "garage",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "garage",
+          "living room"
+        ],
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+        "rooms_visited": [
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+          "hallway"
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+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 21,
+      "question": "From your current viewpoint, is the lighting to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
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+        111
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+      "metadata": {
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+        "object_A_category": "cabinet",
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+        "object_B_category": "lighting",
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+    {
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+      "query_timestep": 23,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) lounge (B) porch/terrace/deck (C) hallway",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_6",
+        "adjacent_rooms": [
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+          "1_11",
+          "1_2",
+          "1_3",
+          "1_4",
+          "1_5",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_7",
+        "all_options": [
+          "lounge",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "context_rooms": "entryway/foyer/lobby, stairs"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 58,
+    "question": "Recall your earlier path. When you passed by the lighting in the lounge, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      12
+    ],
+    "metadata": {
+      "probe_object_id": 12,
+      "probe_category": "lighting",
+      "probe_room": "lounge",
+      "probe_region_id": "0_0",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "right",
+      "object_position": [
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+        -1.8845499753952026,
+        1.0078099966049194
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+      "agent_position_when_seen": [
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+        2.8866939544677734,
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+      "object_pixel_count": 247,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 59
+    }
+  }
+}

train/003024/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 3024,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/i5noydFURQK/i5noydFURQK.glb",
+  "instruction": "InstructionData(instruction_text='Go our and turn left and take right. Then go straight. then enter dressing room. ', instruction_tokens=[1067, 1656, 119, 2494, 1360, 119, 2352, 1968, 15, 2394, 1067, 2288, 15, 2394, 860, 799, 1994, 15])",
+  "instruction_text": "Go our and turn left and take right. Then go straight. then enter dressing room. ",
+  "num_steps": 51,
+  "total_unique_objects": 27,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the picture in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        191
+      ],
+      "metadata": {
+        "probe_object_id": 191,
+        "probe_category": "picture",
+        "probe_room": "living room",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
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+        "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 misc before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
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+        "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": 30,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) living room (C) dining room",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "living room",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "living room",
+          "dining room"
+        ],
+        "query_timestep_internal": 30,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "closet"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 6,
+      "question": "From your current viewpoint, is the table to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        176,
+        187
+      ],
+      "metadata": {
+        "object_A_id": 176,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -2.308690071105957,
+          -2.8775298595428467,
+          2.1943297386169434
+        ],
+        "object_B_id": 187,
+        "object_B_category": "table",
+        "object_B_position": [
+          -1.811229944229126,
+          -3.108649969100952,
+          2.4962799549102783
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -1.6625889539718628,
+          0.18682312965393066,
+          1.9188053607940674
+        ],
+        "agent_rotation": [
+          -0.05468098819255829,
+          0.0,
+          -0.9985039234161377,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "You are currently in the bathroom, and you can see the bedroom. Based on your understanding of the environment layout, which other area is the bathroom directly connected to? (A) dining room (B) kitchen (C) office",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "kitchen",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
+        "adjacent_rooms": [
+          "1_1",
+          "1_6"
+        ],
+        "correct_answer_room": "1_6",
+        "all_options": [
+          "dining room",
+          "kitchen",
+          "office"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "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": "closet",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "closet"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "closet"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 6,
+    "question": "You are currently in the bathroom, and you can see the bedroom. Based on your understanding of the environment layout, which other area is the bathroom directly connected to? (A) laundryroom/mudroom (B) living room (C) office",
+    "answer": "C",
+    "options": [
+      "laundryroom/mudroom",
+      "living room",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_0",
+      "adjacent_rooms": [
+        "1_1",
+        "1_6"
+      ],
+      "correct_answer_room": "1_6",
+      "all_options": [
+        "laundryroom/mudroom",
+        "living room",
+        "office"
+      ],
+      "context_rooms": "bedroom"
+    }
+  }
+}

train/003062/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 3062,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='walk past the fireplace, to through the doorway to the left of the lounger chair, walk past the table on the left and stop in the doorway on the right next to the door to outside. ', instruction_tokens=[2584, 1728, 2389, 942, 2438, 2418, 2389, 766, 2438, 2389, 1360, 1605, 2389, 1426, 457, 2584, 1728, 2389, 2342, 1613, 2389, 1360, 119, 2278, 1237, 2389, 766, 1613, 2389, 1968, 1576, 2438, 2389, 757, 2438, 1665, 15])",
+  "instruction_text": "walk past the fireplace, to through the doorway to the left of the lounger chair, walk past the table on the left and stop in the doorway on the right next to the door to outside. ",
+  "num_steps": 83,
+  "total_unique_objects": 34,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 82,
+      "question": "Recall your earlier path. When you passed by the sofa in the living room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 8,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.748900055885315,
+          -3.1916401386260986,
+          2.8424501419067383
+        ],
+        "agent_position_when_seen": [
+          1.3898781538009644,
+          3.8914499282836914,
+          0.8634921312332153
+        ],
+        "pixel_centroid_x": 247.4351279788173,
+        "normalized_position_x": 0.9330869373345101,
+        "object_pixel_count": 1133,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 83
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 82,
+      "question": "Along your path, did you see the furniture before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1069,
+        87
+      ],
+      "metadata": {
+        "object_A_id": 1069,
+        "object_A_category": "furniture",
+        "object_A_timestep": 0,
+        "object_B_id": 87,
+        "object_B_category": "table",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 1069,
+        "asked_second_object_id": 87
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 62,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) lounge (B) familyroom/lounge (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "familyroom/lounge",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "lounge",
+          "familyroom/lounge",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 62,
+        "rooms_visited": [
+          "bedroom",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 8,
+      "question": "From your current viewpoint, is the picture to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        80,
+        90
+      ],
+      "metadata": {
+        "object_A_id": 80,
+        "object_A_category": "table",
+        "object_A_position": [
+          -0.4733259677886963,
+          -3.142470359802246,
+          5.879849433898926
+        ],
+        "object_B_id": 90,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -0.1539359986782074,
+          -2.1368398666381836,
+          6.312970161437988
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          1.3898781538009644,
+          3.8914499282836914,
+          0.8634921312332153
+        ],
+        "agent_rotation": [
+          -0.07581456750631332,
+          0.0,
+          0.9971219301223755,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "You are currently in the bedroom, and you can see the lounge, bedroom. Based on your understanding of the environment layout, which other area is the bedroom directly connected to? (A) lounge (B) utilityroom/toolroom (C) toilet",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "utilityroom/toolroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_27",
+        "adjacent_rooms": [
+          "2_25",
+          "2_26",
+          "2_28",
+          "2_30",
+          "2_44",
+          "2_46"
+        ],
+        "correct_answer_room": "2_25",
+        "all_options": [
+          "lounge",
+          "utilityroom/toolroom",
+          "toilet"
+        ],
+        "context_rooms": "lounge, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the lounge on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "bedroom",
+        "landmark_room": "lounge",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "bedroom",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 82,
+    "question": "Along your path, did you see the table before or after the furniture?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      1069,
+      87
+    ],
+    "metadata": {
+      "object_A_id": 1069,
+      "object_A_category": "furniture",
+      "object_A_timestep": 0,
+      "object_B_id": 87,
+      "object_B_category": "table",
+      "object_B_timestep": 4,
+      "time_gap": 4,
+      "asked_first_object_id": 87,
+      "asked_second_object_id": 1069
+    }
+  }
+}

train/003211/meta.json

@@ -0,0 +1,98 @@
+{
+  "episode_id": 3211,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='With the desk to your right, walk straight a few steps and then turn left and go through the door to the left of the circle shaped lights.  Enter the locker room area and walk straight through until you get to an area with toilet stalls on the left.  Stop in front of the first toilet stall. ', instruction_tokens=[2661, 2389, 692, 2438, 2706, 1968, 2584, 2288, 73, 925, 2265, 119, 2394, 2494, 1360, 119, 1067, 2418, 2389, 757, 2438, 2389, 1360, 1605, 2389, 500, 2089, 1383, 15, 860, 2389, 1414, 1994, 150, 119, 2584, 2288, 2418, 2524, 2703, 1046, 2438, 118, 150, 2661, 2440, 2231, 1613, 2389, 1360, 15, 2278, 1237, 1019, 1605, 2389, 946, 2440, 2230, 15])",
+  "instruction_text": "With the desk to your right, walk straight a few steps and then turn left and go through the door to the left of the circle shaped lights.  Enter the locker room area and walk straight through until you get to an area with toilet stalls on the left.  Stop in front of the first toilet stall. ",
+  "num_steps": 80,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) spa/sauna (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "spa/sauna",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "stairs",
+          "spa/sauna",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ]
+      }
+    },
+    {
+      "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": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "other room",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "entryway/foyer/lobby",
+          "hallway",
+          "other room"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 62,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) office (C) stairs",
+    "answer": "A",
+    "options": [
+      "bathroom",
+      "office",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "bathroom",
+      "all_options": [
+        "bathroom",
+        "office",
+        "stairs"
+      ],
+      "query_timestep_internal": 62,
+      "rooms_visited": [
+        "bathroom",
+        "entryway/foyer/lobby",
+        "hallway",
+        "other room"
+      ]
+    }
+  }
+}

train/003257/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 3257,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and exit the room through the wood doors. Turn left and enter hallway. Turn into the first door on your left. Stop once you enter the room facing the sink on the back wall. ', instruction_tokens=[2494, 159, 119, 888, 2389, 1994, 2418, 2389, 2668, 762, 15, 2494, 1360, 119, 860, 1126, 15, 2494, 1264, 2389, 946, 757, 1613, 2706, 1360, 15, 2278, 1615, 2703, 860, 2389, 1994, 906, 2389, 2132, 1613, 2389, 190, 2593, 15])",
+  "instruction_text": "Turn around and exit the room through the wood doors. Turn left and enter hallway. Turn into the first door on your left. Stop once you enter the room facing the sink on the back wall. ",
+  "num_steps": 78,
+  "total_unique_objects": 471,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "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": [
+        227
+      ],
+      "metadata": {
+        "probe_object_id": 227,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_11",
+        "first_seen_timestep": 71,
+        "best_view_timestep": 72,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          12.402899742126465,
+          0.3762226104736328,
+          -7.029679298400879
+        ],
+        "agent_position_when_seen": [
+          8.910385131835938,
+          0.011268138885498047,
+          -11.34360122680664
+        ],
+        "pixel_centroid_x": 245.95,
+        "normalized_position_x": 0.9214843749999999,
+        "object_pixel_count": 120,
+        "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 objects before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        188,
+        6
+      ],
+      "metadata": {
+        "object_A_id": 188,
+        "object_A_category": "curtain",
+        "object_A_timestep": 3,
+        "object_B_id": 6,
+        "object_B_category": "objects",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 6,
+        "asked_second_object_id": 188
+      }
+    },
+    {
+      "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) laundryroom/mudroom (B) dining room (C) office",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "dining room",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "laundryroom/mudroom",
+          "dining room",
+          "office"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 73,
+      "question": "From your current viewpoint, is the bed to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        720,
+        191
+      ],
+      "metadata": {
+        "object_A_id": 720,
+        "object_A_category": "shelving",
+        "object_A_position": [
+          12.063899993896484,
+          1.404590129852295,
+          5.188690185546875
+        ],
+        "object_B_id": 191,
+        "object_B_category": "bed",
+        "object_B_position": [
+          12.732000350952148,
+          0.5232540369033813,
+          -0.5534510612487793
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          8.910385131835938,
+          0.011268138885498047,
+          -11.34360122680664
+        ],
+        "agent_rotation": [
+          0.5028505921363831,
+          0.0,
+          -0.8643733859062195,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 57,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) laundryroom/mudroom (B) bathroom (C) bedroom",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "bathroom",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_29",
+        "adjacent_rooms": [
+          "1_20",
+          "1_23",
+          "1_24",
+          "1_26",
+          "1_27",
+          "1_28",
+          "1_30",
+          "1_32",
+          "1_33"
+        ],
+        "correct_answer_room": "1_30",
+        "all_options": [
+          "laundryroom/mudroom",
+          "bathroom",
+          "bedroom"
+        ],
+        "context_rooms": "entryway/foyer/lobby, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "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": 20,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "office",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 58,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) office (C) porch/terrace/deck",
+    "answer": "B",
+    "options": [
+      "other room",
+      "office",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "office",
+      "all_options": [
+        "other room",
+        "office",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 58,
+      "rooms_visited": [
+        "hallway",
+        "office"
+      ]
+    }
+  }
+}