Add files using upload-large-folder tool

train/000009/meta.json

@@ -0,0 +1,202 @@
+{
+  "episode_id": 9,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Move forward and exit the room. Upon exiting, turn to your right and move down the hallway, past the stairs on the right side. Enter the next doorway to your right and stop. ', instruction_tokens=[1537, 993, 119, 888, 2389, 1994, 15, 2529, 890, 2494, 2438, 2706, 1968, 119, 1537, 780, 2389, 1126, 1728, 2389, 2222, 1613, 2389, 1968, 2121, 15, 860, 2389, 1576, 766, 2438, 2706, 1968, 119, 2278, 15])",
+  "instruction_text": "Move forward and exit the room. Upon exiting, turn to your right and move down the hallway, past the stairs on the right side. Enter the next doorway to your right and stop. ",
+  "num_steps": 58,
+  "total_unique_objects": 279,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        787
+      ],
+      "metadata": {
+        "probe_object_id": 787,
+        "probe_category": "shower",
+        "probe_room": "bathroom",
+        "probe_region_id": "2_35",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 18,
+        "num_sightings": 13,
+        "spatial_relation": "left",
+        "object_position": [
+          -18.218700408935547,
+          4.312058925628662,
+          10.51140022277832
+        ],
+        "agent_position_when_seen": [
+          -14.025135040283203,
+          3.151840925216675,
+          6.852702617645264
+        ],
+        "pixel_centroid_x": 17.247086247086248,
+        "normalized_position_x": -0.8652571386946387,
+        "object_pixel_count": 429,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the chair before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        36,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 36,
+        "object_A_category": "chair",
+        "object_A_timestep": 1,
+        "object_B_id": 83,
+        "object_B_category": "",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 36,
+        "asked_second_object_id": 83
+      }
+    },
+    {
+      "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) stairs (B) hallway (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "hallway",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 27,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 8,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) office (B) dining room (C) bathroom",
+      "answer": "C",
+      "options": [
+        "office",
+        "dining room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_2",
+          "0_4",
+          "0_5",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "office",
+          "dining room",
+          "bathroom"
+        ],
+        "context_rooms": "other room, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "bedroom",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 57,
+    "question": "Recall your earlier path. When you passed by the shower in the bathroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      14
+    ],
+    "metadata": {
+      "probe_object_id": 14,
+      "probe_category": "shower",
+      "probe_room": "bathroom",
+      "probe_region_id": "0_1",
+      "first_seen_timestep": 33,
+      "best_view_timestep": 45,
+      "num_sightings": 14,
+      "spatial_relation": "left",
+      "object_position": [
+        -5.204860210418701,
+        -1.237959861755371,
+        6.451720237731934
+      ],
+      "agent_position_when_seen": [
+        -9.4341459274292,
+        3.151840925216675,
+        5.875240325927734
+      ],
+      "pixel_centroid_x": 48.8475935828877,
+      "normalized_position_x": -0.6183781751336899,
+      "object_pixel_count": 374,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 58
+    }
+  }
+}

train/000035/meta.json

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+{
+  "episode_id": 35,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the bedroom from the balcony.  Walk across the bedroom.  Enter the bathroom by the first door on your right.  There are two doorways close to one another.  The doorway for the bathroom is in the darker painted wall.  Inside the bathroom, make a left and stop in front of the toilet. ', instruction_tokens=[2584, 1264, 2389, 273, 1017, 2389, 203, 15, 2584, 85, 2389, 273, 15, 860, 2389, 242, 404, 2389, 946, 757, 1613, 2706, 1968, 15, 2395, 149, 2509, 768, 517, 2438, 1616, 126, 15, 2389, 766, 984, 2389, 242, 1267, 1237, 2389, 669, 1685, 2593, 15, 1249, 2389, 242, 1446, 73, 1360, 119, 2278, 1237, 1019, 1605, 2389, 2440, 15])",
+  "instruction_text": "Walk into the bedroom from the balcony.  Walk across the bedroom.  Enter the bathroom by the first door on your right.  There are two doorways close to one another.  The doorway for the bathroom is in the darker painted wall.  Inside the bathroom, make a left and stop in front of the toilet. ",
+  "num_steps": 56,
+  "total_unique_objects": 292,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        83
+      ],
+      "metadata": {
+        "probe_object_id": 83,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_3",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 48,
+        "num_sightings": 29,
+        "spatial_relation": "right",
+        "object_position": [
+          4.516200065612793,
+          -2.2831296920776367,
+          -0.9655032157897949
+        ],
+        "agent_position_when_seen": [
+          3.6677205562591553,
+          -0.7661948204040527,
+          2.9813549518585205
+        ],
+        "pixel_centroid_x": 172.51564185544768,
+        "normalized_position_x": 0.347778451995685,
+        "object_pixel_count": 3708,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 56
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 55,
+      "question": "Along your path, did you see the stairs before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        185
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 185,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 185,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "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) bathroom (B) other room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "other room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "other room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 5,
+      "question": "From your current viewpoint, is the stairs to the left or right of the sink?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        82,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 82,
+        "object_A_category": "sink",
+        "object_A_position": [
+          5.432429790496826,
+          -2.2066497802734375,
+          -0.9610130786895752
+        ],
+        "object_B_id": 7,
+        "object_B_category": "stairs",
+        "object_B_position": [
+          -0.9331309795379639,
+          -5.409420013427734,
+          -1.5630302429199219
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.03108801320195198,
+          -0.7661948204040527,
+          8.710737228393555
+        ],
+        "agent_rotation": [
+          -0.9985686540603638,
+          0.0,
+          0.053485192358493805,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "Based on your exploration and knowledge of the environment, which area is the closet you see now directly connected to? (A) toilet (B) porch/terrace/deck (C) kitchen",
+      "answer": "A",
+      "options": [
+        "toilet",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_13",
+        "adjacent_rooms": [
+          "2_11",
+          "2_12",
+          "2_14",
+          "2_17",
+          "2_18",
+          "2_5",
+          "2_6"
+        ],
+        "correct_answer_room": "2_6",
+        "all_options": [
+          "toilet",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 16,
+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "bedroom",
+          "bathroom",
+          "closet",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 55,
+    "question": "Recall your earlier path. When you passed by the objects in the toilet, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      170
+    ],
+    "metadata": {
+      "probe_object_id": 170,
+      "probe_category": "objects",
+      "probe_room": "toilet",
+      "probe_region_id": "2_6",
+      "first_seen_timestep": 45,
+      "best_view_timestep": 45,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        5.295539855957031,
+        -0.737881064414978,
+        1.7787597179412842
+      ],
+      "agent_position_when_seen": [
+        3.2104809284210205,
+        -0.7661948204040527,
+        3.183671236038208
+      ],
+      "pixel_centroid_x": 58.5,
+      "normalized_position_x": -0.54296875,
+      "object_pixel_count": 108,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 56
+    }
+  }
+}

train/000041/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 41,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Exit the laundry room through the doorway. Turn left and walk down the hallway.  Walk past the kitchen and dining area to the door that leads outside.  Step onto the door mat and stop. ', instruction_tokens=[888, 2389, 1343, 1994, 2418, 2389, 766, 15, 2494, 1360, 119, 2584, 780, 2389, 1126, 15, 2584, 1728, 2389, 1306, 119, 711, 150, 2438, 2389, 757, 2388, 1350, 1665, 15, 2260, 1620, 2389, 757, 1476, 119, 2278, 15])",
+  "instruction_text": "Exit the laundry room through the doorway. Turn left and walk down the hallway.  Walk past the kitchen and dining area to the door that leads outside.  Step onto the door mat and stop. ",
+  "num_steps": 64,
+  "total_unique_objects": 102,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the chair in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        97
+      ],
+      "metadata": {
+        "probe_object_id": 97,
+        "probe_category": "chair",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -13.038700103759766,
+          0.5586159229278564,
+          -3.5398800373077393
+        ],
+        "agent_position_when_seen": [
+          -6.548476219177246,
+          0.04283595085144043,
+          -3.7429323196411133
+        ],
+        "pixel_centroid_x": 150.4655172413793,
+        "normalized_position_x": 0.1755118534482758,
+        "object_pixel_count": 116,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the lighting before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        32,
+        214
+      ],
+      "metadata": {
+        "object_A_id": 32,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 214,
+        "object_B_category": "lighting",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 214,
+        "asked_second_object_id": 32
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 11,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) porch/terrace/deck (C) entryway/foyer/lobby",
+      "answer": "A",
+      "options": [
+        "laundryroom/mudroom",
+        "porch/terrace/deck",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "laundryroom/mudroom",
+        "all_options": [
+          "laundryroom/mudroom",
+          "porch/terrace/deck",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "outdoor"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the counter in front of or behind the cabinet?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        311,
+        318
+      ],
+      "metadata": {
+        "object_A_id": 311,
+        "object_A_category": "cabinet",
+        "object_A_position": [
+          -11.259499549865723,
+          0.49475693702697754,
+          2.2337799072265625
+        ],
+        "object_B_id": 318,
+        "object_B_category": "counter",
+        "object_B_position": [
+          -10.087900161743164,
+          0.5077250003814697,
+          2.2885799407958984
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          -6.052338600158691,
+          0.04283595085144043,
+          -3.804957389831543
+        ],
+        "agent_rotation": [
+          0.6617967486381531,
+          0.0,
+          0.7496833801269531,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "You are currently in the laundryroom/mudroom, and you can see the garage, dining room. Based on your understanding of the environment layout, which other area is the laundryroom/mudroom directly connected to? (A) outdoor (B) kitchen (C) living room",
+      "answer": "A",
+      "options": [
+        "outdoor",
+        "kitchen",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_10",
+          "0_14",
+          "0_16",
+          "0_24",
+          "0_28",
+          "0_29"
+        ],
+        "correct_answer_room": "0_24",
+        "all_options": [
+          "outdoor",
+          "kitchen",
+          "living room"
+        ],
+        "context_rooms": "garage, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "question": "From your current position, will you pass through the outdoor on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 4,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "outdoor",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "outdoor",
+          "hallway",
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom",
+          "outdoor"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 63,
+    "question": "Along your path, did you see the lighting before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      32,
+      214
+    ],
+    "metadata": {
+      "object_A_id": 32,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 214,
+      "object_B_category": "lighting",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 214,
+      "asked_second_object_id": 32
+    }
+  }
+}

train/000049/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 49,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Walk passed the circular desk towards the decoration pots. Walk through the hallway with the pots and continue through the glass door. Walk Past the water cooler and through the open doorway. ', instruction_tokens=[2584, 1725, 2389, 504, 692, 2452, 2389, 679, 1863, 15, 2584, 2418, 2389, 1126, 2661, 2389, 1863, 119, 569, 2418, 2389, 1057, 757, 15, 2584, 1728, 2389, 2613, 583, 119, 2418, 2389, 1625, 766, 15])",
+  "instruction_text": "Walk passed the circular desk towards the decoration pots. Walk through the hallway with the pots and continue through the glass door. Walk Past the water cooler and through the open doorway. ",
+  "num_steps": 75,
+  "total_unique_objects": 274,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        145
+      ],
+      "metadata": {
+        "probe_object_id": 145,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 61,
+        "best_view_timestep": 65,
+        "num_sightings": 6,
+        "spatial_relation": "right",
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+          -0.27957794070243835
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+          0.12697899341583252,
+          -3.702376365661621
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+        "pixel_centroid_x": 241.80701754385964,
+        "normalized_position_x": 0.8891173245614035,
+        "object_pixel_count": 171,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 75
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 74,
+      "question": "Along your path, did you see the  before or after the mirror?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        155
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 155,
+        "object_B_category": "mirror",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 28,
+        "asked_second_object_id": 155
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 24,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) spa/sauna (C) office",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "spa/sauna",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "spa/sauna",
+          "office"
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+        "query_timestep_internal": 24,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 38,
+      "question": "From your current viewpoint, is the picture to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        229,
+        227
+      ],
+      "metadata": {
+        "object_A_id": 229,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+        "object_B_category": "picture",
+        "object_B_position": [
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+          1.4109101295471191
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+          0.12697899341583252,
+          -8.999300003051758
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+          0.0,
+          -0.9988188743591309,
+          0.0
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bathroom (B) toilet (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "toilet",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_10",
+        "adjacent_rooms": [
+          "0_11",
+          "0_16",
+          "0_2",
+          "0_3",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "bathroom",
+          "toilet",
+          "spa/sauna"
+        ],
+        "context_rooms": "hallway, spa/sauna"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "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": 8,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "other room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "entryway/foyer/lobby"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 31,
+    "question": "From your current viewpoint, is the cabinet to the left or right of the bed?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      261,
+      229
+    ],
+    "metadata": {
+      "object_A_id": 261,
+      "object_A_category": "bed",
+      "object_A_position": [
+        -7.200809955596924,
+        0.38229888677597046,
+        1.0135300159454346
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+      "object_B_id": 229,
+      "object_B_category": "cabinet",
+      "object_B_position": [
+        -12.970999717712402,
+        0.6331620216369629,
+        -4.850689888000488
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+      "spatial_relation": "right",
+      "agent_position": [
+        -13.710003852844238,
+        0.12697899341583252,
+        -10.239002227783203
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+      "agent_rotation": [
+        -0.04858881235122681,
+        0.0,
+        -0.9988188743591309,
+        0.0
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+    }
+  }
+}

train/000065/meta.json

@@ -0,0 +1,185 @@
+{
+  "episode_id": 65,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the left and walk on the rug, going past a few chairs and a end table.  When you get to the hallway, you can turn right and then go to where there is a door on the left and on the right.  Stop there.  Wait. ', instruction_tokens=[2494, 2438, 2389, 1360, 119, 2584, 1613, 2389, 2010, 1071, 1728, 73, 925, 458, 119, 73, 851, 2342, 15, 2632, 2703, 1046, 2438, 2389, 1126, 2703, 417, 2494, 1968, 119, 2394, 1067, 2438, 2633, 2395, 1267, 73, 757, 1613, 2389, 1360, 119, 1613, 2389, 1968, 15, 2278, 2395, 15, 2579, 15])",
+  "instruction_text": "Turn to the left and walk on the rug, going past a few chairs and a end table.  When you get to the hallway, you can turn right and then go to where there is a door on the left and on the right.  Stop there.  Wait. ",
+  "num_steps": 91,
+  "total_unique_objects": 797,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 90,
+      "question": "Recall your earlier path. When you passed by the seating in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1061
+      ],
+      "metadata": {
+        "probe_object_id": 1061,
+        "probe_category": "seating",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_45",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 16,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
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+          -5.256659507751465,
+          3.958529233932495
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+        "agent_position_when_seen": [
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+          0.24438095092773438,
+          9.342076301574707
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+        "pixel_centroid_x": 5.2254901960784315,
+        "normalized_position_x": -0.9591758578431373,
+        "object_pixel_count": 102,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 91
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 90,
+      "question": "Along your path, did you see the curtain before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        43,
+        173
+      ],
+      "metadata": {
+        "object_A_id": 43,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 173,
+        "object_B_category": "curtain",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 173,
+        "asked_second_object_id": 43
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 48,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) lounge (C) balcony",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "lounge",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "lounge",
+        "all_options": [
+          "bathroom",
+          "lounge",
+          "balcony"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 30,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) bathroom (B) lounge (C) meetingroom/conferenceroom",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "lounge",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_29",
+        "adjacent_rooms": [
+          "1_13",
+          "1_26",
+          "1_30"
+        ],
+        "correct_answer_room": "1_13",
+        "all_options": [
+          "bathroom",
+          "lounge",
+          "meetingroom/conferenceroom"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 42,
+      "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": 42,
+        "current_room": "lounge",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 90,
+    "question": "Along your path, did you see the curtain before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      43,
+      173
+    ],
+    "metadata": {
+      "object_A_id": 43,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 173,
+      "object_B_category": "curtain",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 173,
+      "asked_second_object_id": 43
+    }
+  }
+}

train/000071/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 71,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/i5noydFURQK/i5noydFURQK.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the doorway to the left of the kitchen. Go down the hallway and turn left. Enter the door there. ', instruction_tokens=[2584, 2418, 2389, 766, 2438, 2389, 1360, 1605, 2389, 1306, 15, 1067, 780, 2389, 1126, 119, 2494, 1360, 15, 860, 2389, 757, 2395, 15])",
+  "instruction_text": "Walk through the doorway to the left of the kitchen. Go down the hallway and turn left. Enter the door there. ",
+  "num_steps": 43,
+  "total_unique_objects": 61,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "question": "Recall your earlier path. When you passed by the picture in the office, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        137
+      ],
+      "metadata": {
+        "probe_object_id": 137,
+        "probe_category": "picture",
+        "probe_room": "office",
+        "probe_region_id": "1_6",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.5928198099136353,
+          2.463759422302246
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+        "agent_position_when_seen": [
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+          0.0789417177438736,
+          0.9382410049438477
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+        "pixel_centroid_x": 20.570739549839228,
+        "normalized_position_x": -0.839291097266881,
+        "object_pixel_count": 622,
+        "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 bed before or after the sofa?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        108,
+        176
+      ],
+      "metadata": {
+        "object_A_id": 108,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 176,
+        "object_B_category": "sofa",
+        "object_B_timestep": 10,
+        "time_gap": 10,
+        "asked_first_object_id": 108,
+        "asked_second_object_id": 176
+      }
+    },
+    {
+      "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) kitchen (B) living room (C) bedroom",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "bedroom"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 35,
+      "question": "From your current viewpoint, is the bathtub in front of or behind the shower?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        88,
+        100
+      ],
+      "metadata": {
+        "object_A_id": 88,
+        "object_A_category": "shower",
+        "object_A_position": [
+          6.572969913482666,
+          1.6172399520874023,
+          5.601180076599121
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+        "object_B_id": 100,
+        "object_B_category": "bathtub",
+        "object_B_position": [
+          6.340479850769043,
+          0.2922377586364746,
+          5.603760242462158
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+        "spatial_relation": "behind",
+        "agent_position": [
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+          0.18682312965393066,
+          4.123356819152832
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+        "agent_rotation": [
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+          0.0,
+          0.601446270942688,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) bedroom (B) bathroom (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "bathroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "bedroom",
+          "bathroom",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "dining room, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 21,
+        "current_room": "office",
+        "landmark_room": "hallway",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "office",
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 42,
+    "question": "Recall your earlier path. When you passed by the cabinet in the bathroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      87
+    ],
+    "metadata": {
+      "probe_object_id": 87,
+      "probe_category": "cabinet",
+      "probe_room": "bathroom",
+      "probe_region_id": "1_4",
+      "first_seen_timestep": 36,
+      "best_view_timestep": 36,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
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+      "agent_position_when_seen": [
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+        0.18682312965393066,
+        4.123356819152832
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+      "pixel_centroid_x": 62.77647058823529,
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 43
+    }
+  }
+}

train/000105/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 105,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk towards the slender white table. Turn right and exit the bedroom via the farthest doorway to the right. Enter the bathroom and wait by the sink. ', instruction_tokens=[2494, 159, 119, 2584, 2452, 2389, 2159, 2637, 2342, 15, 2494, 1968, 119, 888, 2389, 273, 2567, 2389, 917, 766, 2438, 2389, 1968, 15, 860, 2389, 242, 119, 2579, 404, 2389, 2132, 15])",
+  "instruction_text": "Turn around and walk towards the slender white table. Turn right and exit the bedroom via the farthest doorway to the right. Enter the bathroom and wait by the sink. ",
+  "num_steps": 42,
+  "total_unique_objects": 67,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "question": "Recall your earlier path. When you passed by the sofa in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        509
+      ],
+      "metadata": {
+        "probe_object_id": 509,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "1_24",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 8,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.5121029615402222,
+          1.9839098453521729
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 42
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 41,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        490
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 490,
+        "object_B_category": "picture",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 490
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 41,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) hallway (C) kitchen",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ],
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+        "rooms_visited": [
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+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the stool to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        482,
+        477
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+      "metadata": {
+        "object_A_id": 482,
+        "object_A_category": "shelving",
+        "object_A_position": [
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+        "object_B_category": "stool",
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+          5.23714017868042
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+  "primary_query": {
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+    "query_timestep": 41,
+    "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": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      509
+    ],
+    "metadata": {
+      "probe_object_id": 509,
+      "probe_category": "sofa",
+      "probe_room": "living room",
+      "probe_region_id": "1_24",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 1,
+      "num_sightings": 8,
+      "spatial_relation": "left",
+      "object_position": [
+        -15.146900177001953,
+        0.5121029615402222,
+        1.9839098453521729
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+      "agent_position_when_seen": [
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+        3.115546703338623,
+        -3.8766863346099854
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 42
+    }
+  }
+}

train/000135/meta.json

@@ -0,0 +1,238 @@
+{
+  "episode_id": 135,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the dining room, wait inside the double doors on the left. ', instruction_tokens=[2584, 2452, 2389, 711, 1994, 2579, 1249, 2389, 775, 762, 1613, 2389, 1360, 15])",
+  "instruction_text": "Walk towards the dining room, wait inside the double doors on the left. ",
+  "num_steps": 51,
+  "total_unique_objects": 113,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "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": [
+        2
+      ],
+      "metadata": {
+        "probe_object_id": 2,
+        "probe_category": "table",
+        "probe_room": "dining room",
+        "probe_region_id": "1_0",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 8,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.46410703659057617,
+          2.9777300357818604
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+        "object_pixel_count": 1199,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 51
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 50,
+      "question": "Along your path, did you see the table before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        389,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 389,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 2,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 389
+      }
+    },
+    {
+      "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) tv (B) toilet (C) hallway",
+      "answer": "C",
+      "options": [
+        "tv",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "tv",
+          "toilet",
+          "hallway"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 30,
+      "question": "From your current viewpoint, is the chair to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        755,
+        753
+      ],
+      "metadata": {
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+        "object_A_category": "curtain",
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+          2.4116697311401367
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+        "object_B_category": "chair",
+        "object_B_position": [
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+          -3.022900104522705,
+          -0.45589685440063477
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.13123798370361328,
+          1.6822036504745483
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+          0.0,
+          0.9380326271057129,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "You are currently in the hallway, and you can see the . Based on your understanding of the environment layout, which other area is the hallway directly connected to? (A) familyroom/lounge (B) hallway (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "hallway",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_24",
+        "adjacent_rooms": [
+          "1_14"
+        ],
+        "correct_answer_room": "1_14",
+        "all_options": [
+          "familyroom/lounge",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "context_rooms": ""
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "dining room",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 13,
+    "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": 13,
+      "current_room": "hallway",
+      "landmark_room": "dining room",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "hallway",
+        "dining room",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "dining room",
+        "hallway",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway",
+        "stairs"
+      ]
+    }
+  }
+}

train/000137/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 137,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk toward and past the ping pong table. Continue in that direction until you reach the sofa with two green pillows. Stop in front of the table that is in front of that sofa. ', instruction_tokens=[2584, 2451, 119, 1728, 2389, 1791, 1844, 2342, 15, 569, 1237, 2388, 718, 2524, 2703, 1920, 2389, 2182, 2661, 2509, 1098, 1788, 15, 2278, 1237, 1019, 1605, 2389, 2342, 2388, 1267, 1237, 1019, 1605, 2388, 2182, 15])",
+  "instruction_text": "Walk toward and past the ping pong table. Continue in that direction until you reach the sofa with two green pillows. Stop in front of the table that is in front of that sofa. ",
+  "num_steps": 86,
+  "total_unique_objects": 317,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 85,
+      "question": "Recall your earlier path. When you passed by the sofa in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        59
+      ],
+      "metadata": {
+        "probe_object_id": 59,
+        "probe_category": "sofa",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 69,
+        "best_view_timestep": 73,
+        "num_sightings": 7,
+        "spatial_relation": "left",
+        "object_position": [
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+          8.755180358886719
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+        "agent_position_when_seen": [
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+          0.09357202053070068,
+          0.45749419927597046
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+        "pixel_centroid_x": 89.20338983050847,
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+        "object_pixel_count": 118,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 86
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 85,
+      "question": "Along your path, did you see the stool before or after the stairs?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        49
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "stool",
+        "object_A_timestep": 4,
+        "object_B_id": 49,
+        "object_B_category": "stairs",
+        "object_B_timestep": 8,
+        "time_gap": 4,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 49
+      }
+    },
+    {
+      "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) rec/game (C) junk",
+      "answer": "B",
+      "options": [
+        "entryway/foyer/lobby",
+        "rec/game",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "rec/game",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "rec/game",
+          "junk"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "office",
+          "rec/game"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "question": "From your current viewpoint, is the table to the left or right of the shelving?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        328,
+        234
+      ],
+      "metadata": {
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+        "object_A_category": "shelving",
+        "object_A_position": [
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+        "object_B_category": "table",
+        "object_B_position": [
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+          0.2924227714538574,
+          2.862259864807129
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+        "spatial_relation": "left",
+        "agent_position": [
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+          2.341587543487549
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 25,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) lounge (B) kitchen (C) junk",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "kitchen",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "lounge",
+          "kitchen",
+          "junk"
+        ],
+        "context_rooms": "entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "office",
+        "landmark_room": "lounge",
+        "final_room": "office",
+        "remaining_rooms": [
+          "office",
+          "rec/game",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "office",
+          "rec/game"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) entryway/foyer/lobby (B) rec/game (C) closet",
+    "answer": "B",
+    "options": [
+      "entryway/foyer/lobby",
+      "rec/game",
+      "closet"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "rec/game",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "rec/game",
+        "closet"
+      ],
+      "query_timestep_internal": 29,
+      "rooms_visited": [
+        "office",
+        "rec/game"
+      ]
+    }
+  }
+}

train/000139/meta.json

@@ -0,0 +1,158 @@
+{
+  "episode_id": 139,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the tiled sun room area with potted plants along the glass walls. Pass by the candles on the wall and also the library room. Continue down the hall to the open arched entry way at the end. ', instruction_tokens=[2584, 780, 2389, 2430, 2314, 1994, 150, 2661, 1864, 1814, 108, 2389, 1057, 2597, 15, 1721, 404, 2389, 420, 1613, 2389, 2593, 119, 112, 2389, 1376, 1994, 15, 569, 780, 2389, 1121, 2438, 2389, 1625, 144, 871, 2616, 178, 2389, 851, 15])",
+  "instruction_text": "Walk down the tiled sun room area with potted plants along the glass walls. Pass by the candles on the wall and also the library room. Continue down the hall to the open arched entry way at the end. ",
+  "num_steps": 66,
+  "total_unique_objects": 155,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the table in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        332
+      ],
+      "metadata": {
+        "probe_object_id": 332,
+        "probe_category": "table",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -8.55858039855957,
+          0.49625498056411743,
+          1.3392400741577148
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+        "agent_position_when_seen": [
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+          0.09666500240564346,
+          4.947279930114746
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+        "pixel_centroid_x": 20.01123595505618,
+        "normalized_position_x": -0.8436622191011236,
+        "object_pixel_count": 178,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 54,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) hallway (C) dining room",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "hallway",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "hallway",
+          "dining room"
+        ],
+        "query_timestep_internal": 54,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        214,
+        248
+      ],
+      "metadata": {
+        "object_A_id": 214,
+        "object_A_category": "table",
+        "object_A_position": [
+          -3.178420066833496,
+          0.50565505027771,
+          -3.264280080795288
+        ],
+        "object_B_id": 248,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          0.11783897876739502,
+          1.8773002624511719,
+          -6.9374494552612305
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -7.055910110473633,
+          0.09666500240564346,
+          4.947279930114746
+        ],
+        "agent_rotation": [
+          0.9967048168182373,
+          0.0,
+          -0.08111445605754852,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 4,
+    "question": "From your current viewpoint, is the fireplace to the left or right of the cabinet?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      269,
+      191
+    ],
+    "metadata": {
+      "object_A_id": 269,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        0.10948401689529419,
+        0.642308235168457,
+        -5.354169845581055
+      ],
+      "object_B_id": 191,
+      "object_B_category": "fireplace",
+      "object_B_position": [
+        0.6548349857330322,
+        0.7975990772247314,
+        -2.7705399990081787
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -7.055910110473633,
+        0.09666500240564346,
+        4.947279930114746
+      ],
+      "agent_rotation": [
+        0.8226144909858704,
+        0.0,
+        -0.5685996413230896,
+        0.0
+      ]
+    }
+  }
+}

train/000144/meta.json

@@ -0,0 +1,251 @@
+{
+  "episode_id": 144,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Vvot9Ly1tCj/Vvot9Ly1tCj.glb",
+  "instruction": "InstructionData(instruction_text='Go through the door behind the couch and take your first left and you should see the large empty room. ', instruction_tokens=[1067, 2418, 2389, 757, 285, 2389, 593, 119, 2352, 2706, 946, 1360, 119, 2703, 2109, 2059, 2389, 1336, 843, 1994, 15])",
+  "instruction_text": "Go through the door behind the couch and take your first left and you should see the large empty room. ",
+  "num_steps": 64,
+  "total_unique_objects": 473,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 63,
+      "question": "Recall your earlier path. When you passed by the plant in the outdoor, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        691
+      ],
+      "metadata": {
+        "probe_object_id": 691,
+        "probe_category": "plant",
+        "probe_room": "outdoor",
+        "probe_region_id": "0_29",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.3591599464416504,
+          0.7411799430847168,
+          -2.155829906463623
+        ],
+        "agent_position_when_seen": [
+          2.5510199069976807,
+          0.04283595085144043,
+          3.3348300457000732
+        ],
+        "pixel_centroid_x": 204.12280701754386,
+        "normalized_position_x": 0.5947094298245614,
+        "object_pixel_count": 171,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 64
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 63,
+      "question": "Along your path, did you see the plant before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        181
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 181,
+        "object_B_category": "plant",
+        "object_B_timestep": 48,
+        "time_gap": 48,
+        "asked_first_object_id": 181,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "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) bedroom (B) living room (C) garage",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "living room",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
+          "bedroom",
+          "living room",
+          "garage"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        318,
+        311
+      ],
+      "metadata": {
+        "object_A_id": 318,
+        "object_A_category": "counter",
+        "object_A_position": [
+          -10.087900161743164,
+          0.5077250003814697,
+          2.2885799407958984
+        ],
+        "object_B_id": 311,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -11.259499549865723,
+          0.49475693702697754,
+          2.2337799072265625
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          2.5510199069976807,
+          0.04283595085144043,
+          3.3348300457000732
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+        "agent_rotation": [
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+          0.0,
+          -0.7797012329101562,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 52,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) outdoor (B) familyroom/lounge (C) toilet",
+      "answer": "A",
+      "options": [
+        "outdoor",
+        "familyroom/lounge",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_28",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_14",
+          "0_16",
+          "0_17",
+          "0_18",
+          "0_24",
+          "0_29",
+          "0_4",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "outdoor",
+          "familyroom/lounge",
+          "toilet"
+        ],
+        "context_rooms": "garage, garage"
+      }
+    },
+    {
+      "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": "living room",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "living room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 59,
+    "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      409,
+      407
+    ],
+    "metadata": {
+      "object_A_id": 409,
+      "object_A_category": "sofa",
+      "object_A_position": [
+        4.013209819793701,
+        0.5155419707298279,
+        0.16821402311325073
+      ],
+      "object_B_id": 407,
+      "object_B_category": "curtain",
+      "object_B_position": [
+        2.716639995574951,
+        1.8803296089172363,
+        1.9875901937484741
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        7.2905473709106445,
+        0.04283595085144043,
+        6.4378180503845215
+      ],
+      "agent_rotation": [
+        0.9997556805610657,
+        0.0,
+        -0.022107526659965515,
+        0.0
+      ]
+    }
+  }
+}

train/000151/meta.json

@@ -0,0 +1,188 @@
+{
+  "episode_id": 151,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VzqfbhrpDEA/VzqfbhrpDEA.glb",
+  "instruction": "InstructionData(instruction_text='Walk passed the dining table and through the open sliding doors. Walk t Through the arched door on the right. Then walk down the hall to the bedroom doorway. ', instruction_tokens=[2584, 1725, 2389, 711, 2342, 119, 2418, 2389, 1625, 2161, 762, 15, 2584, 2339, 2418, 2389, 144, 757, 1613, 2389, 1968, 15, 2394, 2584, 780, 2389, 1121, 2438, 2389, 273, 766, 15])",
+  "instruction_text": "Walk passed the dining table and through the open sliding doors. Walk t Through the arched door on the right. Then walk down the hall to the bedroom doorway. ",
+  "num_steps": 58,
+  "total_unique_objects": 378,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "question": "Recall your earlier path. When you passed by the sofa in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        267
+      ],
+      "metadata": {
+        "probe_object_id": 267,
+        "probe_category": "sofa",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 18,
+        "best_view_timestep": 28,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          -21.398700714111328,
+          0.7619540691375732,
+          -1.3433197736740112
+        ],
+        "agent_position_when_seen": [
+          -22.53187370300293,
+          0.09100902080535889,
+          4.8328471183776855
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+        "pixel_centroid_x": 236.71428571428572,
+        "normalized_position_x": 0.8493303571428572,
+        "object_pixel_count": 441,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the gym_equipment before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        2,
+        1171
+      ],
+      "metadata": {
+        "object_A_id": 2,
+        "object_A_category": "gym_equipment",
+        "object_A_timestep": 6,
+        "object_B_id": 1171,
+        "object_B_category": "objects",
+        "object_B_timestep": 14,
+        "time_gap": 8,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 1171
+      }
+    },
+    {
+      "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) utilityroom/toolroom (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "laundryroom/mudroom",
+        "utilityroom/toolroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "laundryroom/mudroom",
+          "utilityroom/toolroom",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 35,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) garage (B) bathroom (C) rec/game",
+      "answer": "B",
+      "options": [
+        "garage",
+        "bathroom",
+        "rec/game"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0",
+          "0_2",
+          "0_7"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "garage",
+          "bathroom",
+          "rec/game"
+        ],
+        "context_rooms": "workout/gym/exercise, familyroom/lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 21,
+      "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": 21,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 19,
+    "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": 19,
+      "current_room": "familyroom/lounge",
+      "landmark_room": "bathroom",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "familyroom/lounge",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "familyroom/lounge"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "familyroom/lounge"
+      ]
+    }
+  }
+}

train/000163/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 163,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the front door to the house. Make a left through the door and walk down the hall and turn the corner. Walk into the bedroom at the end of the hallway. Walk passed the two large beds and into the bathroom, stopping near the sink. ', instruction_tokens=[2584, 2418, 2389, 1019, 757, 2438, 2389, 1213, 15, 1446, 73, 1360, 2418, 2389, 757, 119, 2584, 780, 2389, 1121, 119, 2494, 2389, 589, 15, 2584, 1264, 2389, 273, 178, 2389, 851, 1605, 2389, 1126, 15, 2584, 1725, 2389, 2509, 1336, 275, 119, 1264, 2389, 242, 2279, 1563, 2389, 2132, 15])",
+  "instruction_text": "Walk through the front door to the house. Make a left through the door and walk down the hall and turn the corner. Walk into the bedroom at the end of the hallway. Walk passed the two large beds and into the bathroom, stopping near the sink. ",
+  "num_steps": 78,
+  "total_unique_objects": 107,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the chair in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        321
+      ],
+      "metadata": {
+        "probe_object_id": 321,
+        "probe_category": "chair",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_17",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 3,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          8.206130027770996,
+          0.40196406841278076,
+          -1.106969952583313
+        ],
+        "agent_position_when_seen": [
+          3.6339800357818604,
+          0.05631500482559204,
+          -2.725640058517456
+        ],
+        "pixel_centroid_x": 221.5639344262295,
+        "normalized_position_x": 0.730968237704918,
+        "object_pixel_count": 305,
+        "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 bathtub before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        66,
+        11
+      ],
+      "metadata": {
+        "object_A_id": 66,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 0,
+        "object_B_id": 11,
+        "object_B_category": "bed",
+        "object_B_timestep": 26,
+        "time_gap": 26,
+        "asked_first_object_id": 66,
+        "asked_second_object_id": 11
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 50,
+      "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": 50,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the lighting to the left or right of the chest_of_drawers?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        27,
+        13
+      ],
+      "metadata": {
+        "object_A_id": 27,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
+          -2.6300199031829834,
+          0.3596699833869934,
+          0.24199597537517548
+        ],
+        "object_B_id": 13,
+        "object_B_category": "lighting",
+        "object_B_position": [
+          1.1525100469589233,
+          1.2173500061035156,
+          0.946213960647583
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          0.2682483196258545,
+          0.05631500482559204,
+          -2.8795876502990723
+        ],
+        "agent_rotation": [
+          0.18395251035690308,
+          0.0,
+          0.9829351902008057,
+          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) hallway (B) toilet (C) bedroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "toilet",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_11",
+          "0_16",
+          "0_19",
+          "0_7"
+        ],
+        "correct_answer_room": "0_19",
+        "all_options": [
+          "hallway",
+          "toilet",
+          "bedroom"
+        ],
+        "context_rooms": "dining room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 37,
+      "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 37,
+        "current_room": "hallway",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 77,
+    "question": "Along your path, did you see the bed before or after the bathtub?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      66,
+      11
+    ],
+    "metadata": {
+      "object_A_id": 66,
+      "object_A_category": "bathtub",
+      "object_A_timestep": 0,
+      "object_B_id": 11,
+      "object_B_category": "bed",
+      "object_B_timestep": 26,
+      "time_gap": 26,
+      "asked_first_object_id": 11,
+      "asked_second_object_id": 66
+    }
+  }
+}

train/000192/meta.json

@@ -0,0 +1,58 @@
+{
+  "episode_id": 192,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Turn around go to the end of the hall and turn left. ', instruction_tokens=[2494, 159, 1067, 2438, 2389, 851, 1605, 2389, 1121, 119, 2494, 1360, 15])",
+  "instruction_text": "Turn around go to the end of the hall and turn left. ",
+  "num_steps": 30,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "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) classroom (B) hallway (C) office",
+      "answer": "B",
+      "options": [
+        "classroom",
+        "hallway",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "classroom",
+          "hallway",
+          "office"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) office (C) kitchen",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "office",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "office",
+        "kitchen"
+      ],
+      "query_timestep_internal": 4,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000198/meta.json

@@ -0,0 +1,126 @@
+{
+  "episode_id": 198,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Turn around.  Walk on the pathway towards the entrance of the house.  When you get to the doorway, walk through it and then stop.  Wait. ', instruction_tokens=[2494, 159, 15, 2584, 1613, 2389, 1736, 2452, 2389, 867, 1605, 2389, 1213, 15, 2632, 2703, 1046, 2438, 2389, 766, 2584, 2418, 1272, 119, 2394, 2278, 15, 2579, 15])",
+  "instruction_text": "Turn around.  Walk on the pathway towards the entrance of the house.  When you get to the doorway, walk through it and then stop.  Wait. ",
+  "num_steps": 58,
+  "total_unique_objects": 302,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 57,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        105
+      ],
+      "metadata": {
+        "probe_object_id": 105,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.4224510192871094,
+          -18.563199996948242
+        ],
+        "agent_position_when_seen": [
+          -28.332664489746094,
+          0.33779406547546387,
+          -15.902213096618652
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+        "pixel_centroid_x": 95.5229357798165,
+        "normalized_position_x": -0.25372706422018354,
+        "object_pixel_count": 109,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 58
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 57,
+      "question": "Along your path, did you see the shelving before or after the cabinet?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        42,
+        363
+      ],
+      "metadata": {
+        "object_A_id": 42,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 0,
+        "object_B_id": 363,
+        "object_B_category": "shelving",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 363,
+        "asked_second_object_id": 42
+      }
+    },
+    {
+      "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) hallway (B) stairs (C) living room",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "living room"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 57,
+    "question": "Along your path, did you see the shelving before or after the cabinet?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      42,
+      363
+    ],
+    "metadata": {
+      "object_A_id": 42,
+      "object_A_category": "cabinet",
+      "object_A_timestep": 0,
+      "object_B_id": 363,
+      "object_B_category": "shelving",
+      "object_B_timestep": 4,
+      "time_gap": 4,
+      "asked_first_object_id": 363,
+      "asked_second_object_id": 42
+    }
+  }
+}

train/000202/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 202,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='With the massage table on your right walk forward away from the room and into the room with the pool taking a left and walking along side the pool past the two lounge chairs and take a right into the bar walking straight and stopping at the bottom of the stairs. ', instruction_tokens=[2661, 2389, 1472, 2342, 1613, 2706, 1968, 2584, 993, 187, 1017, 2389, 1994, 119, 1264, 2389, 1994, 2661, 2389, 1846, 2355, 73, 1360, 119, 2588, 108, 2121, 2389, 1846, 1728, 2389, 2509, 1425, 458, 119, 2352, 73, 1968, 1264, 2389, 217, 2588, 2288, 119, 2279, 178, 2389, 348, 1605, 2389, 2222, 15])",
+  "instruction_text": "With the massage table on your right walk forward away from the room and into the room with the pool taking a left and walking along side the pool past the two lounge chairs and take a right into the bar walking straight and stopping at the bottom of the stairs. ",
+  "num_steps": 88,
+  "total_unique_objects": 196,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 87,
+      "question": "Recall your earlier path. When you passed by the objects in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        139
+      ],
+      "metadata": {
+        "probe_object_id": 139,
+        "probe_category": "objects",
+        "probe_room": "stairs",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 74,
+        "best_view_timestep": 83,
+        "num_sightings": 9,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.20849502086639404,
+          1.8121899366378784
+        ],
+        "agent_position_when_seen": [
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+          0.09863299131393433,
+          -2.04233455657959
+        ],
+        "pixel_centroid_x": 12.094736842105263,
+        "normalized_position_x": -0.9055098684210526,
+        "object_pixel_count": 285,
+        "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 bed?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        85,
+        49
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "objects",
+        "object_A_timestep": 2,
+        "object_B_id": 49,
+        "object_B_category": "bed",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 85,
+        "asked_second_object_id": 49
+      }
+    },
+    {
+      "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) workout/gym/exercise (B) spa/sauna (C) other room",
+      "answer": "B",
+      "options": [
+        "workout/gym/exercise",
+        "spa/sauna",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "workout/gym/exercise",
+          "spa/sauna",
+          "other room"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the bed to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        178,
+        94
+      ],
+      "metadata": {
+        "object_A_id": 178,
+        "object_A_category": "cabinet",
+        "object_A_position": [
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+          1.4687199592590332,
+          -3.5299301147460938
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+        "object_B_id": 94,
+        "object_B_category": "bed",
+        "object_B_position": [
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+          0.3108031749725342,
+          -3.683839797973633
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.09863299131393433,
+          -8.057291030883789
+        ],
+        "agent_rotation": [
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+          0.0,
+          -0.8675683736801147,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 9,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) spa/sauna (B) other room (C) stairs",
+      "answer": "A",
+      "options": [
+        "spa/sauna",
+        "other room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_15",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_14",
+          "0_16",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "spa/sauna",
+          "other room",
+          "stairs"
+        ],
+        "context_rooms": "spa/sauna, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "spa/sauna",
+        "landmark_room": "hallway",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "spa/sauna",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 15,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) utilityroom/toolroom (C) spa/sauna",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "utilityroom/toolroom",
+      "spa/sauna"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "spa/sauna",
+      "all_options": [
+        "stairs",
+        "utilityroom/toolroom",
+        "spa/sauna"
+      ],
+      "query_timestep_internal": 15,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "spa/sauna"
+      ]
+    }
+  }
+}

train/000207/meta.json

@@ -0,0 +1,236 @@
+{
+  "episode_id": 207,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7N2EKCX4Sj/D7N2EKCX4Sj.glb",
+  "instruction": "InstructionData(instruction_text=\"Walk passed the sink through the entrance of the women's bathroom. Walk down the hall and towards the dining room area. Stop near the open double doors on the left. \", instruction_tokens=[2584, 1725, 2389, 2132, 2418, 2389, 867, 1605, 2389, 2667, 9, 2018, 242, 15, 2584, 780, 2389, 1121, 119, 2452, 2389, 711, 1994, 150, 15, 2278, 1563, 2389, 1625, 775, 762, 1613, 2389, 1360, 15])",
+  "instruction_text": "Walk passed the sink through the entrance of the women's bathroom. Walk down the hall and towards the dining room area. Stop near the open double doors on the left. ",
+  "num_steps": 40,
+  "total_unique_objects": 362,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "question": "Recall your earlier path. When you passed by the sink in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        910
+      ],
+      "metadata": {
+        "probe_object_id": 910,
+        "probe_category": "sink",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_24",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 20,
+        "num_sightings": 13,
+        "spatial_relation": "right",
+        "object_position": [
+          -3.278049945831299,
+          0.5069469213485718,
+          -1.8108701705932617
+        ],
+        "agent_position_when_seen": [
+          -3.6969408988952637,
+          -3.192077875137329,
+          -1.6558676958084106
+        ],
+        "pixel_centroid_x": 217.4387403641135,
+        "normalized_position_x": 0.6987401590946367,
+        "object_pixel_count": 6097,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 40
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 39,
+      "question": "Along your path, did you see the railing before or after the lighting?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1499,
+        1239
+      ],
+      "metadata": {
+        "object_A_id": 1499,
+        "object_A_category": "lighting",
+        "object_A_timestep": 0,
+        "object_B_id": 1239,
+        "object_B_category": "railing",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1239,
+        "asked_second_object_id": 1499
+      }
+    },
+    {
+      "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) bathroom (B) toilet (C) stairs",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "toilet",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "toilet",
+          "stairs"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 38,
+      "question": "From your current viewpoint, is the beam to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        100,
+        649
+      ],
+      "metadata": {
+        "object_A_id": 100,
+        "object_A_category": "table",
+        "object_A_position": [
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+          -2.8721299171447754,
+          0.8577671647071838
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+        "object_B_id": 649,
+        "object_B_category": "beam",
+        "object_B_position": [
+          2.135469913482666,
+          2.614680290222168,
+          -4.86298942565918
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -3.192077875137329,
+          -1.1021908521652222
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+        "agent_rotation": [
+          -0.7130839824676514,
+          0.0,
+          0.7010786533355713,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) lounge (B) bathroom (C) stairs",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_2",
+          "0_4",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "lounge",
+          "bathroom",
+          "stairs"
+        ],
+        "context_rooms": "dining room, office"
+      }
+    },
+    {
+      "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": "dining room",
+        "remaining_rooms": [
+          "bathroom",
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 18,
+    "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": 18,
+      "current_room": "bathroom",
+      "landmark_room": "entryway/foyer/lobby",
+      "final_room": "dining room",
+      "remaining_rooms": [
+        "bathroom",
+        "hallway",
+        "dining room"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "dining room",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "bathroom"
+      ]
+    }
+  }
+}

train/000209/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 209,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and walk across the room past the sink. Then turn left and you will see a bunch of doors. Walk into the second one on the left, and stop. ', instruction_tokens=[2494, 1968, 119, 2584, 85, 2389, 1994, 1728, 2389, 2132, 15, 2394, 2494, 1360, 119, 2703, 2648, 2059, 73, 389, 1605, 762, 15, 2584, 1264, 2389, 2054, 1616, 1613, 2389, 1360, 119, 2278, 15])",
+  "instruction_text": "Turn right and walk across the room past the sink. Then turn left and you will see a bunch of doors. Walk into the second one on the left, and stop. ",
+  "num_steps": 48,
+  "total_unique_objects": 91,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 47,
+      "question": "Recall your earlier path. When you passed by the clothes in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        54
+      ],
+      "metadata": {
+        "probe_object_id": 54,
+        "probe_category": "clothes",
+        "probe_room": "closet",
+        "probe_region_id": "1_3",
+        "first_seen_timestep": 39,
+        "best_view_timestep": 39,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          1.9858598709106445,
+          3.5623998641967773,
+          -2.68576979637146
+        ],
+        "agent_position_when_seen": [
+          -2.8494534492492676,
+          -0.2089579850435257,
+          -4.479412078857422
+        ],
+        "pixel_centroid_x": 172.0,
+        "normalized_position_x": 0.34375,
+        "object_pixel_count": 840,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 48
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 47,
+      "question": "Along your path, did you see the counter before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        105,
+        151
+      ],
+      "metadata": {
+        "object_A_id": 105,
+        "object_A_category": "",
+        "object_A_timestep": 2,
+        "object_B_id": 151,
+        "object_B_category": "counter",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 151,
+        "asked_second_object_id": 105
+      }
+    },
+    {
+      "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) kitchen (B) closet (C) bathroom",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "closet",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "closet",
+          "bathroom"
+        ],
+        "query_timestep_internal": 26,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen",
+          "utilityroom/toolroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the railing to the left or right of the counter?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        153,
+        211
+      ],
+      "metadata": {
+        "object_A_id": 153,
+        "object_A_category": "counter",
+        "object_A_position": [
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+          0.14711904525756836,
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+        "object_B_id": 211,
+        "object_B_category": "railing",
+        "object_B_position": [
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+          1.8659398555755615,
+          0.1823580265045166
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+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.2089579850435257,
+          -6.880849838256836
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+        "agent_rotation": [
+          -0.3269716501235962,
+          0.0,
+          0.9450342059135437,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) other room (B) bedroom (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "other room",
+        "bedroom",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_4",
+          "0_9"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "other room",
+          "bedroom",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "living room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "utilityroom/toolroom",
+        "landmark_room": "kitchen",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "utilityroom/toolroom",
+          "kitchen",
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "kitchen",
+          "utilityroom/toolroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen",
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 47,
+    "question": "Recall your earlier path. When you passed by the railing in the living room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      226
+    ],
+    "metadata": {
+      "probe_object_id": 226,
+      "probe_category": "railing",
+      "probe_room": "living room",
+      "probe_region_id": "0_10",
+      "first_seen_timestep": 5,
+      "best_view_timestep": 6,
+      "num_sightings": 14,
+      "spatial_relation": "left",
+      "object_position": [
+        -4.232979774475098,
+        3.2079501152038574,
+        -2.5410900115966797
+      ],
+      "agent_position_when_seen": [
+        -6.874279975891113,
+        -0.2089579850435257,
+        -6.880849838256836
+      ],
+      "pixel_centroid_x": 50.95856662933931,
+      "normalized_position_x": -0.6018861982082866,
+      "object_pixel_count": 893,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 48
+    }
+  }
+}

train/000237/meta.json

@@ -0,0 +1,190 @@
+{
+  "episode_id": 237,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the right and walk around the table and chairs.  go through the double doors.  Walk to the right and go past the \"Current\" photo on the wall.  You\\'re in a hallway.  Stop before you get to the rug. Wait. ', instruction_tokens=[2494, 2438, 2389, 1968, 119, 2584, 159, 2389, 2342, 119, 458, 15, 1067, 2418, 2389, 775, 762, 15, 2584, 2438, 2389, 1968, 119, 1067, 1728, 2389, 4, 646, 4, 1767, 1613, 2389, 2593, 15, 2703, 9, 1918, 1237, 73, 1126, 15, 2278, 281, 2703, 1046, 2438, 2389, 2010, 15, 2579, 15])",
+  "instruction_text": "Turn to the right and walk around the table and chairs.  go through the double doors.  Walk to the right and go past the \"Current\" photo on the wall.  You're in a hallway.  Stop before you get to the rug. Wait. ",
+  "num_steps": 61,
+  "total_unique_objects": 136,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the table in the tv, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        577
+      ],
+      "metadata": {
+        "probe_object_id": 577,
+        "probe_category": "table",
+        "probe_room": "tv",
+        "probe_region_id": "0_18",
+        "first_seen_timestep": 40,
+        "best_view_timestep": 40,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          1.4514800310134888,
+          -3.376279830932617,
+          -1.0064301490783691
+        ],
+        "agent_position_when_seen": [
+          1.5798430442810059,
+          0.13123798370361328,
+          -0.7874835729598999
+        ],
+        "pixel_centroid_x": 248.2591304347826,
+        "normalized_position_x": 0.9395244565217391,
+        "object_pixel_count": 575,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the table before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        389,
+        2
+      ],
+      "metadata": {
+        "object_A_id": 389,
+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 2,
+        "object_B_category": "table",
+        "object_B_timestep": 15,
+        "time_gap": 15,
+        "asked_first_object_id": 2,
+        "asked_second_object_id": 389
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) meetingroom/conferenceroom (B) kitchen (C) tv",
+      "answer": "A",
+      "options": [
+        "meetingroom/conferenceroom",
+        "kitchen",
+        "tv"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "meetingroom/conferenceroom",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "kitchen",
+          "tv"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "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) meetingroom/conferenceroom (C) bathroom",
+      "answer": "C",
+      "options": [
+        "living room",
+        "meetingroom/conferenceroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_2",
+        "adjacent_rooms": [
+          "1_0",
+          "1_1",
+          "1_14",
+          "1_15",
+          "1_16",
+          "1_3",
+          "1_5",
+          "1_7",
+          "1_9"
+        ],
+        "correct_answer_room": "1_3",
+        "all_options": [
+          "living room",
+          "meetingroom/conferenceroom",
+          "bathroom"
+        ],
+        "context_rooms": "dining room, bathroom"
+      }
+    },
+    {
+      "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": "meetingroom/conferenceroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "meetingroom/conferenceroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "meetingroom/conferenceroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 60,
+    "question": "Along your path, did you see the shelving before or after the table?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      389,
+      2
+    ],
+    "metadata": {
+      "object_A_id": 389,
+      "object_A_category": "shelving",
+      "object_A_timestep": 0,
+      "object_B_id": 2,
+      "object_B_category": "table",
+      "object_B_timestep": 15,
+      "time_gap": 15,
+      "asked_first_object_id": 389,
+      "asked_second_object_id": 2
+    }
+  }
+}

train/000286/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 286,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the bedroom and out through the open doors into the hallway. Walk down the hall passed the glass patio door and continue around the corner and down the hall. Walk passed the mirror into the room with the piano and continue past the piano. ', instruction_tokens=[2584, 2418, 2389, 273, 119, 1658, 2418, 2389, 1625, 762, 1264, 2389, 1126, 15, 2584, 780, 2389, 1121, 1725, 2389, 1057, 1737, 757, 119, 569, 159, 2389, 589, 119, 780, 2389, 1121, 15, 2584, 1725, 2389, 1515, 1264, 2389, 1994, 2661, 2389, 1773, 119, 569, 1728, 2389, 1773, 15])",
+  "instruction_text": "Walk through the bedroom and out through the open doors into the hallway. Walk down the hall passed the glass patio door and continue around the corner and down the hall. Walk passed the mirror into the room with the piano and continue past the piano. ",
+  "num_steps": 74,
+  "total_unique_objects": 414,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "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": [
+        173
+      ],
+      "metadata": {
+        "probe_object_id": 173,
+        "probe_category": "bathtub",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 10,
+        "best_view_timestep": 11,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          4.257299900054932,
+          0.5960683822631836,
+          13.944599151611328
+        ],
+        "agent_position_when_seen": [
+          4.696969985961914,
+          0.003321051597595215,
+          -16.903499603271484
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+        "pixel_centroid_x": 72.83898305084746,
+        "normalized_position_x": -0.4309454449152542,
+        "object_pixel_count": 118,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the stool before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        6,
+        50
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "sofa",
+        "object_A_timestep": 6,
+        "object_B_id": 50,
+        "object_B_category": "stool",
+        "object_B_timestep": 9,
+        "time_gap": 3,
+        "asked_first_object_id": 50,
+        "asked_second_object_id": 6
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 36,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) hallway (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "hallway",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "closet",
+          "hallway",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 36,
+        "rooms_visited": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 70,
+      "question": "From your current viewpoint, is the table to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6,
+        77
+      ],
+      "metadata": {
+        "object_A_id": 6,
+        "object_A_category": "sofa",
+        "object_A_position": [
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+        "object_B_id": 77,
+        "object_B_category": "table",
+        "object_B_position": [
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+          0.33087897300720215,
+          2.5529000759124756
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+        "agent_position": [
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+          -8.526373863220215
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+          0.0,
+          0.9988628029823303,
+          0.0
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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 bedroom you see now directly connected to? (A) closet (B) office (C) tv",
+      "answer": "C",
+      "options": [
+        "closet",
+        "office",
+        "tv"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_0",
+          "0_18",
+          "0_19",
+          "0_20"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "closet",
+          "office",
+          "tv"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 33,
+      "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": 33,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 73,
+    "question": "Along your path, did you see the sofa before or after the stool?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      6,
+      50
+    ],
+    "metadata": {
+      "object_A_id": 6,
+      "object_A_category": "sofa",
+      "object_A_timestep": 6,
+      "object_B_id": 50,
+      "object_B_category": "stool",
+      "object_B_timestep": 9,
+      "time_gap": 3,
+      "asked_first_object_id": 6,
+      "asked_second_object_id": 50
+    }
+  }
+}

train/000289/meta.json

@@ -0,0 +1,153 @@
+{
+  "episode_id": 289,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/29hnd4uzFmX/29hnd4uzFmX.glb",
+  "instruction": "InstructionData(instruction_text='turn right and go to the door. go through the door and then go to the drum set. ', instruction_tokens=[2494, 1968, 119, 1067, 2438, 2389, 757, 15, 1067, 2418, 2389, 757, 119, 2394, 1067, 2438, 2389, 806, 2073, 15])",
+  "instruction_text": "turn right and go to the door. go through the door and then go to the drum set. ",
+  "num_steps": 40,
+  "total_unique_objects": 22,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 39,
+      "question": "Recall your earlier path. When you passed by the bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6
+      ],
+      "metadata": {
+        "probe_object_id": 6,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_0",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 4,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.0690300464630127,
+          0.8014140129089355
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+        "agent_position_when_seen": [
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+          2.7910420894622803,
+          -0.5477240085601807
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+        "pixel_centroid_x": 72.70434782608696,
+        "normalized_position_x": -0.43199728260869563,
+        "object_pixel_count": 230,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 40
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 39,
+      "question": "Along your path, did you see the picture before or after the ?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        78,
+        105
+      ],
+      "metadata": {
+        "object_A_id": 78,
+        "object_A_category": "picture",
+        "object_A_timestep": 1,
+        "object_B_id": 105,
+        "object_B_category": "",
+        "object_B_timestep": 14,
+        "time_gap": 13,
+        "asked_first_object_id": 78,
+        "asked_second_object_id": 105
+      }
+    },
+    {
+      "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) hallway (B) entryway/foyer/lobby (C) stairs",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "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) closet (B) bathroom (C) utilityroom/toolroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "bathroom",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_5"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "closet",
+          "bathroom",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "hallway, stairs"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 34,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) stairs (C) living room",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "stairs",
+      "living room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "stairs",
+        "living room"
+      ],
+      "query_timestep_internal": 34,
+      "rooms_visited": [
+        "bedroom",
+        "hallway"
+      ]
+    }
+  }
+}

train/000295/meta.json

@@ -0,0 +1,197 @@
+{
+  "episode_id": 295,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and go past the kitchen.  Turn Left at the microwave area.  You will be at the top of the stairs.  Wait right there. ', instruction_tokens=[2494, 1360, 119, 1067, 1728, 2389, 1306, 15, 2494, 1360, 178, 2389, 1501, 150, 15, 2703, 2648, 252, 178, 2389, 2444, 1605, 2389, 2222, 15, 2579, 1968, 2395, 15])",
+  "instruction_text": "Turn left and go past the kitchen.  Turn Left at the microwave area.  You will be at the top of the stairs.  Wait right there. ",
+  "num_steps": 50,
+  "total_unique_objects": 194,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the sink in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        43
+      ],
+      "metadata": {
+        "probe_object_id": 43,
+        "probe_category": "sink",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 8,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          8.188090324401855,
+          -2.1736202239990234,
+          1.298050045967102
+        ],
+        "agent_position_when_seen": [
+          2.053839921951294,
+          2.9496591091156006,
+          -0.13587899506092072
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+        "pixel_centroid_x": 244.38655462184875,
+        "normalized_position_x": 0.9092699579831933,
+        "object_pixel_count": 119,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the picture before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        34
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 34,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 34,
+        "asked_second_object_id": 3
+      }
+    },
+    {
+      "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) kitchen (B) living room (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "living room",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "balcony",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the balcony you see now directly connected to? (A) kitchen (B) bedroom (C) bathroom",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "bedroom",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_9",
+        "adjacent_rooms": [
+          "1_10",
+          "1_8"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "kitchen",
+          "bedroom",
+          "bathroom"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "question": "From your current position, will you pass through the porch/terrace/deck on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 3,
+        "current_room": "balcony",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "balcony",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "balcony"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 20,
+    "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 20,
+      "current_room": "kitchen",
+      "landmark_room": "familyroom/lounge",
+      "final_room": "stairs",
+      "remaining_rooms": [
+        "kitchen",
+        "stairs"
+      ],
+      "all_rooms_in_trajectory": [
+        "balcony",
+        "familyroom/lounge",
+        "kitchen",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "balcony",
+        "familyroom/lounge",
+        "kitchen"
+      ]
+    }
+  }
+}

train/000297/meta.json

@@ -0,0 +1,90 @@
+{
+  "episode_id": 297,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Face slightly left and proceed through the kitchen. Move between the countertops towards the sink. Continue forward past the stove. Continue out of the kitchen and into the dining room. stop behind a chair. ', instruction_tokens=[903, 2164, 1360, 119, 1878, 2418, 2389, 1306, 15, 1537, 294, 2389, 602, 2452, 2389, 2132, 15, 569, 993, 1728, 2389, 2284, 15, 569, 1658, 1605, 2389, 1306, 119, 1264, 2389, 711, 1994, 15, 2278, 285, 73, 457, 15])",
+  "instruction_text": "Face slightly left and proceed through the kitchen. Move between the countertops towards the sink. Continue forward past the stove. Continue out of the kitchen and into the dining room. stop behind a chair. ",
+  "num_steps": 32,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "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) kitchen (B) lounge (C) bedroom",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "lounge",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "lounge",
+          "bedroom"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "dining room",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "kitchen",
+        "landmark_room": "dining room",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "kitchen",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 13,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) entryway/foyer/lobby (B) kitchen (C) bedroom",
+    "answer": "B",
+    "options": [
+      "entryway/foyer/lobby",
+      "kitchen",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "kitchen",
+        "bedroom"
+      ],
+      "query_timestep_internal": 13,
+      "rooms_visited": [
+        "dining room",
+        "kitchen"
+      ]
+    }
+  }
+}

train/000302/meta.json

@@ -0,0 +1,206 @@
+{
+  "episode_id": 302,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Turn around and walk past the easel with the sign on it. Walk up to the second step. ', instruction_tokens=[2494, 159, 119, 2584, 1728, 2389, 819, 2661, 2389, 2125, 1613, 1272, 15, 2584, 2527, 2438, 2389, 2054, 2260, 15])",
+  "instruction_text": "Turn around and walk past the easel with the sign on it. Walk up to the second step. ",
+  "num_steps": 24,
+  "total_unique_objects": 351,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 23,
+      "question": "Recall your earlier path. When you passed by the objects in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        75
+      ],
+      "metadata": {
+        "probe_object_id": 75,
+        "probe_category": "objects",
+        "probe_room": "hallway",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 12,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          19.96179962158203,
+          -0.36813831329345703,
+          3.4042396545410156
+        ],
+        "agent_position_when_seen": [
+          23.186357498168945,
+          -0.7064279913902283,
+          1.7681995630264282
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+        "pixel_centroid_x": 157.81927710843374,
+        "normalized_position_x": 0.23296310240963858,
+        "object_pixel_count": 249,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 24
+      }
+    },
+    {
+      "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) stairs (B) rec/game (C) meetingroom/conferenceroom",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "rec/game",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "stairs",
+          "rec/game",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 22,
+        "rooms_visited": [
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 21,
+      "question": "From your current viewpoint, is the stairs to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        242,
+        49
+      ],
+      "metadata": {
+        "object_A_id": 242,
+        "object_A_category": "shelving",
+        "object_A_position": [
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+          0.7482590675354004,
+          3.5697898864746094
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+        "object_B_id": 49,
+        "object_B_category": "stairs",
+        "object_B_position": [
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+          -0.5735639929771423,
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+        "spatial_relation": "right",
+        "agent_position": [
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+        "agent_rotation": [
+          0.8266907930374146,
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+          0.5626565217971802,
+          0.0
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) stairs (B) porch/terrace/deck (C) kitchen",
+      "answer": "A",
+      "options": [
+        "stairs",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_5",
+        "adjacent_rooms": [
+          "1_16",
+          "1_19",
+          "1_3",
+          "1_4",
+          "1_6"
+        ],
+        "correct_answer_room": "1_16",
+        "all_options": [
+          "stairs",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "context_rooms": "junk, meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "kitchen",
+        "landmark_room": "stairs",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "kitchen",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 10,
+    "question": "From your current position, will you pass through the meetingroom/conferenceroom on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 10,
+      "current_room": "kitchen",
+      "landmark_room": "meetingroom/conferenceroom",
+      "final_room": "stairs",
+      "remaining_rooms": [
+        "kitchen",
+        "stairs"
+      ],
+      "all_rooms_in_trajectory": [
+        "kitchen",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000325/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 325,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/jh4fc5c5qoQ/jh4fc5c5qoQ.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the steps and go straight. Then turn right and go inside. Then turn left and wait in front of the kitchen. ', instruction_tokens=[2584, 2527, 2389, 2265, 119, 1067, 2288, 15, 2394, 2494, 1968, 119, 1067, 1249, 15, 2394, 2494, 1360, 119, 2579, 1237, 1019, 1605, 2389, 1306, 15])",
+  "instruction_text": "Walk up the steps and go straight. Then turn right and go inside. Then turn left and wait in front of the kitchen. ",
+  "num_steps": 57,
+  "total_unique_objects": 139,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the column in the porch/terrace/deck, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        124
+      ],
+      "metadata": {
+        "probe_object_id": 124,
+        "probe_category": "column",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 37,
+        "num_sightings": 23,
+        "spatial_relation": "right",
+        "object_position": [
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+          2.342639446258545,
+          4.448389530181885
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+        "agent_position_when_seen": [
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+          0.8857640027999878,
+          1.6926276683807373
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+        "pixel_centroid_x": 219.60504825538234,
+        "normalized_position_x": 0.7156644394951746,
+        "object_pixel_count": 1347,
+        "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 cushion before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        109
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "cushion",
+        "object_A_timestep": 0,
+        "object_B_id": 109,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 109
+      }
+    },
+    {
+      "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) office (B) bathroom (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "office",
+        "bathroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "office",
+          "bathroom",
+          "porch/terrace/deck"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the appliances to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        122,
+        91
+      ],
+      "metadata": {
+        "object_A_id": 122,
+        "object_A_category": "railing",
+        "object_A_position": [
+          2.720439910888672,
+          1.1796798706054688,
+          5.521420001983643
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+        "object_B_id": 91,
+        "object_B_category": "appliances",
+        "object_B_position": [
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+          1.8356297016143799,
+          3.9385499954223633
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.8055729866027832,
+          3.3016855716705322
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+        "agent_rotation": [
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+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 38,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) bathroom (B) living room (C) bedroom",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "living room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_3",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "bathroom",
+          "living room",
+          "bedroom"
+        ],
+        "context_rooms": "entryway/foyer/lobby, kitchen"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the laundryroom/mudroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "porch/terrace/deck",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "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": 17,
+    "question": "From your current viewpoint, is the appliances to the left or right of the chair?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      64,
+      91
+    ],
+    "metadata": {
+      "object_A_id": 64,
+      "object_A_category": "chair",
+      "object_A_position": [
+        -1.3895699977874756,
+        1.2525500059127808,
+        0.34288299083709717
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+      "object_B_id": 91,
+      "object_B_category": "appliances",
+      "object_B_position": [
+        -2.0317800045013428,
+        1.8356297016143799,
+        3.9385499954223633
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        4.106167793273926,
+        0.8055729866027832,
+        3.7696330547332764
+      ],
+      "agent_rotation": [
+        -0.7564765810966492,
+        0.0,
+        -0.6540209054946899,
+        0.0
+      ]
+    }
+  }
+}

train/000343/meta.json

@@ -0,0 +1,158 @@
+{
+  "episode_id": 343,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight out of the room past the restrooms. Keep walking straight and wait at the first doorway before the front door of the building. ', instruction_tokens=[2584, 2288, 1658, 1605, 2389, 1994, 1728, 2389, 1961, 15, 1295, 2588, 2288, 119, 2579, 178, 2389, 946, 766, 281, 2389, 1019, 757, 1605, 2389, 381, 15])",
+  "instruction_text": "Walk straight out of the room past the restrooms. Keep walking straight and wait at the first doorway before the front door of the building. ",
+  "num_steps": 52,
+  "total_unique_objects": 16,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 51,
+      "question": "Recall your earlier path. When you passed by the seating in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        455
+      ],
+      "metadata": {
+        "probe_object_id": 455,
+        "probe_category": "seating",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 6,
+        "spatial_relation": "left",
+        "object_position": [
+          -4.014319896697998,
+          0.24104762077331543,
+          3.5435500144958496
+        ],
+        "agent_position_when_seen": [
+          -4.9805498123168945,
+          0.07537198066711426,
+          -3.371649980545044
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+        "pixel_centroid_x": 39.79331823329559,
+        "normalized_position_x": -0.6891147013023782,
+        "object_pixel_count": 1766,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 52
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 50,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) dining room (C) entryway/foyer/lobby",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "dining room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "porch/terrace/deck",
+          "dining room",
+          "entryway/foyer/lobby"
+        ],
+        "query_timestep_internal": 50,
+        "rooms_visited": [
+          "entryway/foyer/lobby"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the seating to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        443,
+        455
+      ],
+      "metadata": {
+        "object_A_id": 443,
+        "object_A_category": "picture",
+        "object_A_position": [
+          -8.40054988861084,
+          1.761009931564331,
+          3.6119601726531982
+        ],
+        "object_B_id": 455,
+        "object_B_category": "seating",
+        "object_B_position": [
+          -4.014319896697998,
+          0.24104762077331543,
+          3.5435500144958496
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+        "spatial_relation": "left",
+        "agent_position": [
+          -4.9805498123168945,
+          0.07537198066711426,
+          -3.371649980545044
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+        "agent_rotation": [
+          -0.04938724637031555,
+          0.0,
+          -0.9987797141075134,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 5,
+    "question": "From your current viewpoint, is the stool to the left or right of the table?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      449,
+      456
+    ],
+    "metadata": {
+      "object_A_id": 449,
+      "object_A_category": "table",
+      "object_A_position": [
+        -7.945110321044922,
+        0.3591820001602173,
+        -1.6310501098632812
+      ],
+      "object_B_id": 456,
+      "object_B_category": "stool",
+      "object_B_position": [
+        -5.666749954223633,
+        0.441025972366333,
+        0.6949280500411987
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -5.33339786529541,
+        0.07537198066711426,
+        -2.435969591140747
+      ],
+      "agent_rotation": [
+        -0.17933166027069092,
+        0.0,
+        -0.9837887287139893,
+        0.0
+      ]
+    }
+  }
+}

train/000349/meta.json

@@ -0,0 +1,129 @@
+{
+  "episode_id": 349,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Move into the area where the two hallways meet and then make a left turn. Move down the hallway and enter the second doorway on your left. ', instruction_tokens=[1537, 1264, 2389, 150, 2633, 2389, 2509, 1128, 1487, 119, 2394, 1446, 73, 1360, 2494, 15, 1537, 780, 2389, 1126, 119, 860, 2389, 2054, 766, 1613, 2706, 1360, 15])",
+  "instruction_text": "Move into the area where the two hallways meet and then make a left turn. Move down the hallway and enter the second doorway on your left. ",
+  "num_steps": 41,
+  "total_unique_objects": 746,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 23,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) meetingroom/conferenceroom (B) lounge (C) hallway",
+      "answer": "C",
+      "options": [
+        "meetingroom/conferenceroom",
+        "lounge",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "lounge",
+          "hallway"
+        ],
+        "query_timestep_internal": 23,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 30,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) library (B) other room (C) dining booth",
+      "answer": "B",
+      "options": [
+        "library",
+        "other room",
+        "dining booth"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_62",
+        "adjacent_rooms": [
+          "0_59",
+          "0_61",
+          "0_63",
+          "0_64",
+          "0_65"
+        ],
+        "correct_answer_room": "0_61",
+        "all_options": [
+          "library",
+          "other room",
+          "dining booth"
+        ],
+        "context_rooms": "hallway, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "kitchen",
+        "final_room": "office",
+        "remaining_rooms": [
+          "hallway",
+          "office"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "hallway",
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 2,
+    "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": 2,
+      "current_room": "kitchen",
+      "landmark_room": "hallway",
+      "final_room": "office",
+      "remaining_rooms": [
+        "kitchen",
+        "hallway",
+        "office"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "kitchen",
+        "office"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000351/meta.json

@@ -0,0 +1,256 @@
+{
+  "episode_id": 351,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Go out the door towards the adjustable chair, then towards the door by the decorative grasses.  Wait there. ', instruction_tokens=[1067, 1658, 2389, 757, 2452, 2389, 90, 457, 2394, 2452, 2389, 757, 404, 2389, 681, 1092, 15, 2579, 2395, 15])",
+  "instruction_text": "Go out the door towards the adjustable chair, then towards the door by the decorative grasses.  Wait there. ",
+  "num_steps": 49,
+  "total_unique_objects": 208,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "question": "Recall your earlier path. When you passed by the table in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
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+      "probe_objects": [
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+      "metadata": {
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+        "probe_category": "table",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_9",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
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+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 48,
+      "question": "Along your path, did you see the table before or after the bed?",
+      "answer": "before",
+      "options": [
+        "before",
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+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        5
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+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "table",
+        "object_A_timestep": 1,
+        "object_B_id": 5,
+        "object_B_category": "bed",
+        "object_B_timestep": 4,
+        "time_gap": 3,
+        "asked_first_object_id": 26,
+        "asked_second_object_id": 5
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 4,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) spa/sauna (B) other room (C) bathroom",
+      "answer": "C",
+      "options": [
+        "spa/sauna",
+        "other room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "spa/sauna",
+          "other room",
+          "bathroom"
+        ],
+        "query_timestep_internal": 4,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "utilityroom/toolroom",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the stairs?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        145,
+        178
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+      "metadata": {
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+        "object_A_category": "stairs",
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+    {
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+      "question": "Based on your exploration and knowledge of the environment, which area is the workout/gym/exercise you see now directly connected to? (A) utilityroom/toolroom (B) spa/sauna (C) stairs",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
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+        "stairs"
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+      "probe_objects": [],
+      "metadata": {
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+        "correct_answer_room": "0_6",
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+          "utilityroom/toolroom",
+          "spa/sauna",
+          "stairs"
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+        "context_rooms": "spa/sauna, other room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 5,
+        "current_room": "bathroom",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "hallway",
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+          "utilityroom/toolroom",
+          "bathroom",
+          "hallway",
+          "workout/gym/exercise",
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+        "all_rooms_in_trajectory": [
+          "bathroom",
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+          "utilityroom/toolroom",
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+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 39,
+    "question": "From your current viewpoint, is the chair to the left or right of the stairs?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      140,
+      127
+    ],
+    "metadata": {
+      "object_A_id": 140,
+      "object_A_category": "stairs",
+      "object_A_position": [
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+        -0.40888798236846924,
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+      "object_B_id": 127,
+      "object_B_category": "chair",
+      "object_B_position": [
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+        -4.107319355010986
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+    }
+  }
+}

train/000362/meta.json

@@ -0,0 +1,230 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Make an exit out of the laundry room, and hang slightly left where there are stairs. Head downstairs to the main floor where you will wait at the end of the stairs where there is a painting hanging on the wall next to light switches. ', instruction_tokens=[1446, 118, 888, 1658, 1605, 2389, 1343, 1994, 119, 1146, 2164, 1360, 2633, 2395, 149, 2222, 15, 1162, 782, 2438, 2389, 1445, 959, 2633, 2703, 2648, 2579, 178, 2389, 851, 1605, 2389, 2222, 2633, 2395, 1267, 73, 1688, 1149, 1613, 2389, 2593, 1576, 2438, 1378, 2335, 15])",
+  "instruction_text": "Make an exit out of the laundry room, and hang slightly left where there are stairs. Head downstairs to the main floor where you will wait at the end of the stairs where there is a painting hanging on the wall next to light switches. ",
+  "num_steps": 61,
+  "total_unique_objects": 270,
+  "mindcraft_queries": [
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+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the tv_monitor in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
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+        "right"
+      ],
+      "probe_objects": [
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+      "metadata": {
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+        "probe_category": "tv_monitor",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "1_9",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
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+    {
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+      "query_timestep": 60,
+      "question": "Along your path, did you see the curtain before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
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+        "at the same time"
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+        "object_A_id": 590,
+        "object_A_category": "curtain",
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+        "asked_first_object_id": 590,
+        "asked_second_object_id": 332
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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) lounge (B) stairs (C) bathroom",
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+      "options": [
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+        "stairs",
+        "bathroom"
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+      "probe_objects": [],
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+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) porch/terrace/deck (B) bathroom (C) hallway",
+      "answer": "C",
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+        "porch/terrace/deck",
+        "bathroom",
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+          "0_25"
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+          "bathroom",
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+        "context_rooms": "entryway/foyer/lobby, kitchen"
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 30,
+      "question": "From your current position, will you pass through the laundryroom/mudroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+        "current_room": "hallway",
+        "landmark_room": "laundryroom/mudroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
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+        "negative_kind": "visited_but_not_ahead",
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+    }
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+  "primary_query": {
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+    "question": "Along your path, did you see the curtain before or after the table?",
+    "answer": "before",
+    "options": [
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+      "after",
+      "at the same time"
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+      "asked_first_object_id": 590,
+      "asked_second_object_id": 332
+    }
+  }
+}

train/000367/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 367,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn to the left and continue walking into the house.  You'll walk past the dining room table and then take a left, into a room with a desk.  Walk to the desk and stop. \", instruction_tokens=[2494, 2438, 2389, 1360, 119, 569, 2588, 1264, 2389, 1213, 15, 2703, 9, 1406, 2584, 1728, 2389, 711, 1994, 2342, 119, 2394, 2352, 73, 1360, 1264, 73, 1994, 2661, 73, 692, 15, 2584, 2438, 2389, 692, 119, 2278, 15])",
+  "instruction_text": "Turn to the left and continue walking into the house.  You'll walk past the dining room table and then take a left, into a room with a desk.  Walk to the desk and stop. ",
+  "num_steps": 68,
+  "total_unique_objects": 292,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 67,
+      "question": "Recall your earlier path. When you passed by the table in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        319
+      ],
+      "metadata": {
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+        "probe_category": "table",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_13",
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+        "best_view_timestep": 61,
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 68
+      }
+    },
+    {
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+      "query_timestep": 67,
+      "question": "Along your path, did you see the sofa before or after the cushion?",
+      "answer": "before",
+      "options": [
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+        31
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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) hallway (B) stairs (C) kitchen",
+      "answer": "A",
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+        "stairs",
+        "kitchen"
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+      "probe_objects": [],
+      "metadata": {
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+        "rooms_visited": [
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+      "question": "From your current viewpoint, is the curtain to the left or right of the tv_monitor?",
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+      "query_timestep": 64,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) familyroom/lounge (B) office (C) stairs",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "office",
+        "stairs"
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+      "probe_objects": [],
+      "metadata": {
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+        "adjacent_rooms": [
+          "0_13",
+          "0_15",
+          "0_18"
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+        "correct_answer_room": "0_18",
+        "all_options": [
+          "familyroom/lounge",
+          "office",
+          "stairs"
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+        "context_rooms": "bathroom, entryway/foyer/lobby"
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 14,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "bedroom",
+        "final_room": "office",
+        "remaining_rooms": [
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+          "hallway",
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+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
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+        ]
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+    }
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+    "question": "From your current viewpoint, is the curtain to the left or right of the shelving?",
+    "answer": "left",
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+      "left",
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+    "probe_objects": [
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+      443
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+      "object_A_category": "shelving",
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+      "object_B_category": "curtain",
+      "object_B_position": [
+        6.869830131530762,
+        1.3952900171279907,
+        -1.0716798305511475
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+      "spatial_relation": "left",
+      "agent_position": [
+        1.2728265523910522,
+        0.028255999088287354,
+        4.019939422607422
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+      "agent_rotation": [
+        0.6938995718955994,
+        0.0,
+        -0.7200718522071838,
+        0.0
+      ]
+    }
+  }
+}

train/000389/meta.json

@@ -0,0 +1,247 @@
+{
+  "episode_id": 389,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sKLMLpTHeUy/sKLMLpTHeUy.glb",
+  "instruction": "InstructionData(instruction_text='leave bathroom to office, walk across office to hallway, follow hallway and turn slight left, stop in living room with stairs at the right. ', instruction_tokens=[1355, 242, 2438, 1607, 2584, 85, 1607, 2438, 1126, 972, 1126, 119, 2494, 2162, 1360, 2278, 1237, 1404, 1994, 2661, 2222, 178, 2389, 1968, 15])",
+  "instruction_text": "leave bathroom to office, walk across office to hallway, follow hallway and turn slight left, stop in living room with stairs at the right. ",
+  "num_steps": 49,
+  "total_unique_objects": 188,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 48,
+      "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": [
+        247
+      ],
+      "metadata": {
+        "probe_object_id": 247,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_13",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 17,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.8090079426765442,
+          0.8937619924545288
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+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 126.58026755852843,
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+        "object_pixel_count": 2392,
+        "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 furniture before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        83,
+        74
+      ],
+      "metadata": {
+        "object_A_id": 83,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 74,
+        "object_B_category": "furniture",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 74,
+        "asked_second_object_id": 83
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 46,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) dining room (C) closet",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "dining room",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "dining room",
+          "closet"
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+        "rooms_visited": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 45,
+      "question": "From your current viewpoint, is the railing to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        96,
+        90
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+      "metadata": {
+        "object_A_id": 96,
+        "object_A_category": "stairs",
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+          -0.685500979423523,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "You are currently in the lounge, and you can see the familyroom/lounge, hallway. Based on your understanding of the environment layout, which other area is the lounge directly connected to? (A) bathroom (B) kitchen (C) balcony",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "kitchen",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2",
+          "0_26",
+          "0_4"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "bathroom",
+          "kitchen",
+          "balcony"
+        ],
+        "context_rooms": "familyroom/lounge, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "lounge",
+        "landmark_room": "bathroom",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "lounge",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "familyroom/lounge",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bathroom",
+          "lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 48,
+    "question": "Recall your earlier path. When you passed by the objects in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      254
+    ],
+    "metadata": {
+      "probe_object_id": 254,
+      "probe_category": "objects",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_13",
+      "first_seen_timestep": 10,
+      "best_view_timestep": 18,
+      "num_sightings": 10,
+      "spatial_relation": "right",
+      "object_position": [
+        10.693699836730957,
+        2.3366198539733887,
+        0.7838008403778076
+      ],
+      "agent_position_when_seen": [
+        11.8477201461792,
+        -2.7422995567321777,
+        0.8250484466552734
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+      "pixel_centroid_x": 221.6829836829837,
+      "normalized_position_x": 0.7318983100233101,
+      "object_pixel_count": 429,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 49
+    }
+  }
+}

train/000394/meta.json

@@ -0,0 +1,255 @@
+{
+  "episode_id": 394,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/vyrNrziPKCB/vyrNrziPKCB.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the closet and into the bathroom then make a left to leave the bathroom. Walk on the right side of the bedroom and leave the room. Make a left in the hall then make a right to go to the stairs. Walk past the steps and wait in the hall on the far left. ', instruction_tokens=[2584, 1658, 1605, 2389, 521, 119, 1264, 2389, 242, 2394, 1446, 73, 1360, 2438, 1355, 2389, 242, 15, 2584, 1613, 2389, 1968, 2121, 1605, 2389, 273, 119, 1355, 2389, 1994, 15, 1446, 73, 1360, 1237, 2389, 1121, 2394, 1446, 73, 1968, 2438, 1067, 2438, 2389, 2222, 15, 2584, 1728, 2389, 2265, 119, 2579, 1237, 2389, 1121, 1613, 2389, 914, 1360, 15])",
+  "instruction_text": "Walk out of the closet and into the bathroom then make a left to leave the bathroom. Walk on the right side of the bedroom and leave the room. Make a left in the hall then make a right to go to the stairs. Walk past the steps and wait in the hall on the far left. ",
+  "num_steps": 78,
+  "total_unique_objects": 1105,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the shelving in the office, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        863
+      ],
+      "metadata": {
+        "probe_object_id": 863,
+        "probe_category": "shelving",
+        "probe_room": "office",
+        "probe_region_id": "0_31",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 64,
+        "num_sightings": 41,
+        "spatial_relation": "left",
+        "object_position": [
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+          2.3757004737854004,
+          -4.400989532470703
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+        "agent_position_when_seen": [
+          4.46674919128418,
+          3.598568916320801,
+          12.017049789428711
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+        "pixel_centroid_x": 56.630630630630634,
+        "normalized_position_x": -0.5575731981981982,
+        "object_pixel_count": 333,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 78
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 77,
+      "question": "Along your path, did you see the blinds before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        19,
+        101
+      ],
+      "metadata": {
+        "object_A_id": 19,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 101,
+        "object_B_category": "blinds",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 101,
+        "asked_second_object_id": 19
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 35,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) rec/game (C) tv",
+      "answer": "B",
+      "options": [
+        "living room",
+        "rec/game",
+        "tv"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "rec/game",
+        "all_options": [
+          "living room",
+          "rec/game",
+          "tv"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "hallway",
+          "other room",
+          "rec/game",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 24,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+        627
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+      "metadata": {
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+        "object_A_category": "shelving",
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+        "object_B_category": "cabinet",
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+          14.100500106811523
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+        "spatial_relation": "right",
+        "agent_position": [
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+          3.598568916320801,
+          15.838668823242188
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+        "agent_rotation": [
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+          -0.20846286416053772,
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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 porch/terrace/deck you see now directly connected to? (A) tv (B) rec/game (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "tv",
+        "rec/game",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_62",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_34"
+        ],
+        "correct_answer_room": "0_18",
+        "all_options": [
+          "tv",
+          "rec/game",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bathroom, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "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": 4,
+        "current_room": "closet",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "closet",
+          "bathroom",
+          "bedroom",
+          "rec/game",
+          "stairs",
+          "other room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "closet",
+          "hallway",
+          "other room",
+          "rec/game",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "closet"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 77,
+    "question": "Recall your earlier path. When you passed by the table in the familyroom/lounge, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      1108
+    ],
+    "metadata": {
+      "probe_object_id": 1108,
+      "probe_category": "table",
+      "probe_room": "familyroom/lounge",
+      "probe_region_id": "0_38",
+      "first_seen_timestep": 42,
+      "best_view_timestep": 52,
+      "num_sightings": 17,
+      "spatial_relation": "left",
+      "object_position": [
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+        0.810941219329834,
+        -6.258059501647949
+      ],
+      "agent_position_when_seen": [
+        2.956582546234131,
+        3.598568916320801,
+        12.871908187866211
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+      "pixel_centroid_x": 20.06122448979592,
+      "normalized_position_x": -0.8432716836734694,
+      "object_pixel_count": 147,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 78
+    }
+  }
+}

train/000427/meta.json

@@ -0,0 +1,164 @@
+{
+  "episode_id": 427,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Go down the stairs, past the Christmas tree on your right, and wiat facing the room with the fireplaplace. ', instruction_tokens=[1067, 780, 2389, 2222, 1728, 2389, 490, 2469, 1613, 2706, 1968, 119, 2642, 906, 2389, 1994, 2661, 2389, 944, 15])",
+  "instruction_text": "Go down the stairs, past the Christmas tree on your right, and wiat facing the room with the fireplaplace. ",
+  "num_steps": 40,
+  "total_unique_objects": 285,
+  "mindcraft_queries": [
+    {
+      "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) living room (B) stairs (C) bedroom",
+      "answer": "B",
+      "options": [
+        "living room",
+        "stairs",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
+          "living room",
+          "stairs",
+          "bedroom"
+        ],
+        "query_timestep_internal": 1,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 36,
+      "question": "From your current viewpoint, is the curtain to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        286,
+        287
+      ],
+      "metadata": {
+        "object_A_id": 286,
+        "object_A_category": "bed",
+        "object_A_position": [
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+          1.3128795623779297,
+          -9.278779983520508
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+        "object_B_id": 287,
+        "object_B_category": "curtain",
+        "object_B_position": [
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+          1.6210803985595703,
+          -10.850000381469727
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -2.6999950408935547,
+          -9.96193790435791
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+        "agent_rotation": [
+          0.35226863622665405,
+          0.0,
+          -0.9358989596366882,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 39,
+      "question": "Based on your exploration and knowledge of the environment, which area is the porch/terrace/deck you see now directly connected to? (A) balcony (B) bedroom (C) porch/terrace/deck",
+      "answer": "C",
+      "options": [
+        "balcony",
+        "bedroom",
+        "porch/terrace/deck"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_19",
+          "0_2",
+          "0_3"
+        ],
+        "correct_answer_room": "0_19",
+        "all_options": [
+          "balcony",
+          "bedroom",
+          "porch/terrace/deck"
+        ],
+        "context_rooms": "entryway/foyer/lobby, living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 35,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) stairs (B) porch/terrace/deck (C) hallway",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "porch/terrace/deck",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_9",
+      "adjacent_rooms": [
+        "1_10",
+        "1_11",
+        "1_12",
+        "1_13",
+        "1_8"
+      ],
+      "correct_answer_room": "1_11",
+      "all_options": [
+        "stairs",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "context_rooms": "bathroom, bedroom"
+    }
+  }
+}

train/000455/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 455,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/p5wJjkQkbXX/p5wJjkQkbXX.glb",
+  "instruction": "InstructionData(instruction_text='Enter the large living room area and turn right. Move past the table area and enter the hallway. Continue moving forward until the hallway ends and make a 45 degree turn to your left. Continue forward and enter the first door on your right. ', instruction_tokens=[860, 2389, 1336, 1404, 1994, 150, 119, 2494, 1968, 15, 1537, 1728, 2389, 2342, 150, 119, 860, 2389, 1126, 15, 569, 1540, 993, 2524, 2389, 1126, 854, 119, 1446, 73, 58, 683, 2494, 2438, 2706, 1360, 15, 569, 993, 119, 860, 2389, 946, 757, 1613, 2706, 1968, 15])",
+  "instruction_text": "Enter the large living room area and turn right. Move past the table area and enter the hallway. Continue moving forward until the hallway ends and make a 45 degree turn to your left. Continue forward and enter the first door on your right. ",
+  "num_steps": 108,
+  "total_unique_objects": 335,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 107,
+      "question": "Recall your earlier path. When you passed by the railing in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        131
+      ],
+      "metadata": {
+        "probe_object_id": 131,
+        "probe_category": "railing",
+        "probe_room": "stairs",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 56,
+        "best_view_timestep": 62,
+        "num_sightings": 9,
+        "spatial_relation": "right",
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+          -1.2719697952270508,
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+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 108
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 107,
+      "question": "Along your path, did you see the chair before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        574,
+        30
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+      "metadata": {
+        "object_A_id": 574,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 30,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 574,
+        "asked_second_object_id": 30
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 60,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) laundryroom/mudroom (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "living room",
+        "laundryroom/mudroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "living room",
+        "all_options": [
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+          "laundryroom/mudroom",
+          "familyroom/lounge"
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+        "rooms_visited": [
+          "closet",
+          "dining room",
+          "hallway",
+          "living room",
+          "porch/terrace/deck"
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+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the plant to the left or right of the cushion?",
+      "answer": "left",
+      "options": [
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+        "right"
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+      "probe_objects": [
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+        572
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+      "query_timestep": 98,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) bedroom (B) kitchen (C) toilet",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "kitchen",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_35",
+        "adjacent_rooms": [
+          "1_10",
+          "1_36",
+          "1_7"
+        ],
+        "correct_answer_room": "1_7",
+        "all_options": [
+          "bedroom",
+          "kitchen",
+          "toilet"
+        ],
+        "context_rooms": "bedroom, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "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": 1,
+        "current_room": "porch/terrace/deck",
+        "landmark_room": "living room",
+        "final_room": "hallway",
+        "remaining_rooms": [
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+          "living room",
+          "dining room",
+          "living room",
+          "hallway",
+          "closet",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "closet",
+          "dining room",
+          "hallway",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 50,
+    "question": "From your current position, will you pass through the closet on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 50,
+      "current_room": "living room",
+      "landmark_room": "closet",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "living room",
+        "hallway",
+        "closet",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "closet",
+        "dining room",
+        "hallway",
+        "living room",
+        "porch/terrace/deck"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "dining room",
+        "living room",
+        "porch/terrace/deck"
+      ]
+    }
+  }
+}

train/000458/meta.json

@@ -0,0 +1,248 @@
+{
+  "episode_id": 458,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bathroom, exit the waiting room, walk up the stairs, wait at the top of the stairs. ', instruction_tokens=[888, 2389, 242, 888, 2389, 2581, 1994, 2584, 2527, 2389, 2222, 2579, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Exit the bathroom, exit the waiting room, walk up the stairs, wait at the top of the stairs. ",
+  "num_steps": 75,
+  "total_unique_objects": 153,
+  "mindcraft_queries": [
+    {
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+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the cabinet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        327
+      ],
+      "metadata": {
+        "probe_object_id": 327,
+        "probe_category": "cabinet",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_16",
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+        "num_sightings": 6,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 75
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 74,
+      "question": "Along your path, did you see the mirror before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
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+        310
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+      "metadata": {
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+        "object_A_category": "",
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+        "object_B_category": "mirror",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 310,
+        "asked_second_object_id": 70
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 2,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) porch/terrace/deck (B) bathroom (C) lounge",
+      "answer": "B",
+      "options": [
+        "porch/terrace/deck",
+        "bathroom",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "porch/terrace/deck",
+          "bathroom",
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+          "stairs"
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+    {
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+      "question": "From your current viewpoint, is the table to the left or right of the sofa?",
+      "answer": "left",
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+        104
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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) hallway (B) familyroom/lounge (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "familyroom/lounge",
+        "kitchen"
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+      "probe_objects": [],
+      "metadata": {
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+          "0_8",
+          "0_9"
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+        "all_options": [
+          "hallway",
+          "familyroom/lounge",
+          "kitchen"
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+        "context_rooms": "entryway/foyer/lobby, stairs"
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
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+      "probe_objects": [],
+      "metadata": {
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+        "current_room": "living room",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
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+        "negative_kind": null,
+        "passed_rooms": [
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+  ],
+  "primary_query": {
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+    "query_timestep": 8,
+    "question": "From your current viewpoint, is the shower to the left or right of the chest_of_drawers?",
+    "answer": "left",
+    "options": [
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+      "right"
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+    "probe_objects": [
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+      122
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+      "object_A_category": "chest_of_drawers",
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+      "object_B_category": "shower",
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+        -2.838240146636963
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+        0.8956136703491211,
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+    }
+  }
+}

train/000506/meta.json

@@ -0,0 +1,156 @@
+{
+  "episode_id": 506,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Turn left and go down the hall. Go through the door at the end of the hall and stop in the doorway. ', instruction_tokens=[2494, 1360, 119, 1067, 780, 2389, 1121, 15, 1067, 2418, 2389, 757, 178, 2389, 851, 1605, 2389, 1121, 119, 2278, 1237, 2389, 766, 15])",
+  "instruction_text": "Turn left and go down the hall. Go through the door at the end of the hall and stop in the doorway. ",
+  "num_steps": 35,
+  "total_unique_objects": 63,
+  "mindcraft_queries": [
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+      "query_timestep": 34,
+      "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": [
+        530
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+      "metadata": {
+        "probe_object_id": 530,
+        "probe_category": "objects",
+        "probe_room": "dining room",
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+        "first_seen_timestep": 0,
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+        "category_unique_in_region": true,
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+    },
+    {
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+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) hallway (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
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+      }
+    },
+    {
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+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the towel?",
+      "answer": "right",
+      "options": [
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+      "probe_objects": [
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+      "metadata": {
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+    "query_timestep": 34,
+    "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": [
+      530
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+    "metadata": {
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+      "probe_category": "objects",
+      "probe_room": "dining room",
+      "probe_region_id": "0_6",
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+      "num_sightings": 3,
+      "spatial_relation": "right",
+      "object_position": [
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+        -0.3577759861946106
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+        -2.607830047607422
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 35
+    }
+  }
+}

train/000507/meta.json

@@ -0,0 +1,158 @@
+{
+  "episode_id": 507,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Exit the bedroom and move down the hallway, past the fire extinguisher and Christmas tree. Continue forward and stop in the doorway that is marked Master Suite. ', instruction_tokens=[888, 2389, 273, 119, 1537, 780, 2389, 1126, 1728, 2389, 940, 895, 119, 490, 2469, 15, 569, 993, 119, 2278, 1237, 2389, 766, 2388, 1267, 1466, 1475, 2313, 15])",
+  "instruction_text": "Exit the bedroom and move down the hallway, past the fire extinguisher and Christmas tree. Continue forward and stop in the doorway that is marked Master Suite. ",
+  "num_steps": 35,
+  "total_unique_objects": 63,
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+      "question": "Recall your earlier path. When you passed by the chair in the bedroom, was it on your left side or right side?",
+      "answer": "left",
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+        "left",
+        "right"
+      ],
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+        468
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+        "probe_category": "chair",
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+    {
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+      "query_timestep": 26,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bathroom (C) bedroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bathroom",
+        "bedroom"
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+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
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+          "hallway",
+          "bathroom",
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+        "query_timestep_internal": 26,
+        "rooms_visited": [
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+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 2,
+      "question": "From your current viewpoint, is the towel to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+      "metadata": {
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+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 1,
+    "question": "From your current viewpoint, is the objects to the left or right of the curtain?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      509,
+      516
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+    "metadata": {
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+      "object_B_category": "objects",
+      "object_B_position": [
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+    }
+  }
+}

train/000512/meta.json

@@ -0,0 +1,246 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
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+  "total_unique_objects": 329,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the tv_monitor in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        741
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+      "metadata": {
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+        "probe_category": "tv_monitor",
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+        "determination_method": "pixel_position",
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+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 50,
+      "question": "Along your path, did you see the  before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
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+        389
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+      "metadata": {
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+        "object_A_category": "",
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+        "object_B_id": 389,
+        "object_B_category": "shelving",
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+        "time_gap": 11,
+        "asked_first_object_id": 186,
+        "asked_second_object_id": 389
+      }
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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) kitchen (B) living room (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "kitchen",
+        "living room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "kitchen",
+          "living room",
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+      "question": "From your current viewpoint, is the curtain to the left or right of the beam?",
+      "answer": "left",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) entryway/foyer/lobby (B) meetingroom/conferenceroom (C) dining room",
+      "answer": "C",
+      "options": [
+        "entryway/foyer/lobby",
+        "meetingroom/conferenceroom",
+        "dining room"
+      ],
+      "probe_objects": [],
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+          "1_10",
+          "1_14"
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+        "correct_answer_room": "1_0",
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+          "entryway/foyer/lobby",
+          "meetingroom/conferenceroom",
+          "dining room"
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+        "context_rooms": "bathroom, hallway"
+      }
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "question": "From your current position, will you pass through the tv on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 15,
+        "current_room": "bathroom",
+        "landmark_room": "tv",
+        "final_room": "dining room",
+        "remaining_rooms": [
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+          "hallway",
+          "familyroom/lounge",
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+        "all_rooms_in_trajectory": [
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+          "dining room",
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+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 50,
+    "question": "Recall your earlier path. When you passed by the tv_monitor in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
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+    ],
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+      "probe_category": "tv_monitor",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "0_27",
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+      "best_view_timestep": 45,
+      "num_sightings": 2,
+      "spatial_relation": "right",
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+        -3.0007901191711426,
+        -0.5965471267700195
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+      "agent_position_when_seen": [
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+        0.13123798370361328,
+        12.413311958312988
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+      "determination_method": "pixel_position",
+      "total_trajectory_length": 51
+    }
+  }
+}

train/000522/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 522,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the laundry machines exiting the room and wait at the doorway to you right. ', instruction_tokens=[2584, 1728, 2389, 1343, 1440, 890, 2389, 1994, 119, 2579, 178, 2389, 766, 2438, 2703, 1968, 15])",
+  "instruction_text": "Walk past the laundry machines exiting the room and wait at the doorway to you right. ",
+  "num_steps": 34,
+  "total_unique_objects": 260,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "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": 23,
+        "best_view_timestep": 29,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
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+          -4.880859375
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+        "agent_position_when_seen": [
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+        "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 stairs before or after the bathtub?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        251,
+        443
+      ],
+      "metadata": {
+        "object_A_id": 251,
+        "object_A_category": "bathtub",
+        "object_A_timestep": 2,
+        "object_B_id": 443,
+        "object_B_category": "stairs",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 443,
+        "asked_second_object_id": 251
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 33,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) living room",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "kitchen",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "living room"
+        ],
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+        "rooms_visited": [
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+          "kitchen",
+          "laundryroom/mudroom"
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+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 28,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the furniture?",
+      "answer": "right",
+      "options": [
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+      "probe_objects": [
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+        225
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+        "object_B_category": "cabinet",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) living room (B) bathroom (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "living room",
+        "bathroom",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_0",
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+          "1_1",
+          "1_7"
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+        "correct_answer_room": "1_1",
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+          "living room",
+          "bathroom",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "hallway"
+      }
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the kitchen on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "laundryroom/mudroom",
+        "landmark_room": "kitchen",
+        "final_room": "kitchen",
+        "remaining_rooms": [
+          "laundryroom/mudroom",
+          "kitchen"
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+          "bathroom",
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+          "laundryroom/mudroom"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom",
+          "laundryroom/mudroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 33,
+    "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": [
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+    ],
+    "metadata": {
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+      "probe_category": "picture",
+      "probe_room": "bedroom",
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+      "best_view_timestep": 28,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
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+        1.5754704475402832,
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+      "agent_position_when_seen": [
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+        0.11627800017595291,
+        4.363255977630615
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 34
+    }
+  }
+}

train/000529/meta.json

@@ -0,0 +1,166 @@
+{
+  "episode_id": 529,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Go straight, directly in between the table which is on your right and the book shelf which is on your left. Make a slight left, and then a hard right. Wait near the area where there is stone walls on both sides of you. ', instruction_tokens=[1067, 2288, 720, 1237, 294, 2389, 2342, 2634, 1267, 1613, 2706, 1968, 119, 2389, 335, 2096, 2634, 1267, 1613, 2706, 1360, 15, 1446, 73, 2162, 1360, 119, 2394, 73, 1152, 1968, 15, 2579, 1563, 2389, 150, 2633, 2395, 1267, 2273, 2597, 1613, 345, 2122, 1605, 2703, 15])",
+  "instruction_text": "Go straight, directly in between the table which is on your right and the book shelf which is on your left. Make a slight left, and then a hard right. Wait near the area where there is stone walls on both sides of you. ",
+  "num_steps": 44,
+  "total_unique_objects": 187,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 43,
+      "question": "Recall your earlier path. When you passed by the furniture in the office, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        390
+      ],
+      "metadata": {
+        "probe_object_id": 390,
+        "probe_category": "furniture",
+        "probe_room": "office",
+        "probe_region_id": "1_15",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 26,
+        "num_sightings": 1,
+        "spatial_relation": "left",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
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+      }
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+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
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+        "at the same time"
+      ],
+      "probe_objects": [
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+        195
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+      "metadata": {
+        "object_A_id": 11,
+        "object_A_category": "",
+        "object_A_timestep": 0,
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+        "time_gap": 6,
+        "asked_first_object_id": 11,
+        "asked_second_object_id": 195
+      }
+    },
+    {
+      "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) closet (B) office (C) meetingroom/conferenceroom",
+      "answer": "B",
+      "options": [
+        "closet",
+        "office",
+        "meetingroom/conferenceroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "closet",
+          "office",
+          "meetingroom/conferenceroom"
+        ],
+        "query_timestep_internal": 26,
+        "rooms_visited": [
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 14,
+      "question": "From your current viewpoint, is the table to the left or right of the stool?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        332,
+        224
+      ],
+      "metadata": {
+        "object_A_id": 332,
+        "object_A_category": "stool",
+        "object_A_position": [
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+          0.4393659830093384,
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+        "object_B_category": "table",
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+          0.29607486724853516,
+          3.8785600662231445
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+        "agent_position": [
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+          0.09357202053070068,
+          0.25893354415893555
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+          0.3191157579421997,
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+    }
+  ],
+  "primary_query": {
+    "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) porch/terrace/deck (B) kitchen (C) office",
+    "answer": "C",
+    "options": [
+      "porch/terrace/deck",
+      "kitchen",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "office",
+      "all_options": [
+        "porch/terrace/deck",
+        "kitchen",
+        "office"
+      ],
+      "query_timestep_internal": 10,
+      "rooms_visited": [
+        "office"
+      ]
+    }
+  }
+}

train/000538/meta.json

@@ -0,0 +1,229 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Walk up the stairs, when you get to the top walk to the carpet before the table. ', instruction_tokens=[2584, 2527, 2389, 2222, 2632, 2703, 1046, 2438, 2389, 2444, 2584, 2438, 2389, 432, 281, 2389, 2342, 15])",
+  "instruction_text": "Walk up the stairs, when you get to the top walk to the carpet before the table. ",
+  "num_steps": 80,
+  "total_unique_objects": 130,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the counter in the bathroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        148
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+      "metadata": {
+        "probe_object_id": 148,
+        "probe_category": "counter",
+        "probe_room": "bathroom",
+        "probe_region_id": "2_5",
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+        "num_sightings": 10,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 80
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+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 79,
+      "question": "Along your path, did you see the objects before or after the shelving?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        337,
+        310
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+      "metadata": {
+        "object_A_id": 337,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 310,
+        "object_B_category": "shelving",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 337,
+        "asked_second_object_id": 310
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+    },
+    {
+      "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) laundryroom/mudroom (B) stairs (C) porch/terrace/deck",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "stairs",
+        "porch/terrace/deck"
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+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "stairs",
+        "all_options": [
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+        "rooms_visited": [
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+          "stairs"
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+    {
+      "query_type": "L2.2_LocalSpatialRelation",
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+      "question": "From your current viewpoint, is the table to the left or right of the chair?",
+      "answer": "right",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) balcony (B) hallway (C) porch/terrace/deck",
+      "answer": "B",
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+        "balcony",
+        "hallway",
+        "porch/terrace/deck"
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+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_4",
+        "adjacent_rooms": [
+          "1_3",
+          "1_7"
+        ],
+        "correct_answer_room": "1_7",
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+          "balcony",
+          "hallway",
+          "porch/terrace/deck"
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+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 36,
+      "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": 36,
+        "current_room": "stairs",
+        "landmark_room": "hallway",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "stairs",
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+          "dining room"
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+        "all_rooms_in_trajectory": [
+          "dining room",
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+          "stairs"
+        ],
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+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 79,
+    "question": "Along your path, did you see the objects before or after the shelving?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
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+      310
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+    "metadata": {
+      "object_A_id": 337,
+      "object_A_category": "objects",
+      "object_A_timestep": 0,
+      "object_B_id": 310,
+      "object_B_category": "shelving",
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+      "time_gap": 3,
+      "asked_first_object_id": 337,
+      "asked_second_object_id": 310
+    }
+  }
+}

train/000544/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 544,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='enter hallway, turn left, enter room, walk through second doorway, stop in bathroom. ', instruction_tokens=[860, 1126, 2494, 1360, 860, 1994, 2584, 2418, 2054, 766, 2278, 1237, 242, 15])",
+  "instruction_text": "enter hallway, turn left, enter room, walk through second doorway, stop in bathroom. ",
+  "num_steps": 59,
+  "total_unique_objects": 260,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the toilet in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        495
+      ],
+      "metadata": {
+        "probe_object_id": 495,
+        "probe_category": "toilet",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_11",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 3,
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+        "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 table before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
+        523,
+        418
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+      "metadata": {
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+        "object_A_category": "shelving",
+        "object_A_timestep": 0,
+        "object_B_id": 418,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 418,
+        "asked_second_object_id": 523
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 56,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) workout/gym/exercise (C) lounge",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "workout/gym/exercise",
+        "lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "kitchen",
+          "workout/gym/exercise",
+          "lounge"
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+        "rooms_visited": [
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 41,
+      "question": "From your current viewpoint, is the counter to the left or right of the bathtub?",
+      "answer": "left",
+      "options": [
+        "left",
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+      "probe_objects": [
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+        694
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+        "object_B_category": "counter",
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+    {
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+      "query_timestep": 41,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bathroom (B) familyroom/lounge (C) utilityroom/toolroom",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_20",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_19"
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+        "correct_answer_room": "0_18",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "workout/gym/exercise, closet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 5,
+      "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": 5,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "bedroom",
+        "final_room": "workout/gym/exercise",
+        "remaining_rooms": [
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+          "hallway",
+          "office",
+          "bedroom",
+          "workout/gym/exercise"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "familyroom/lounge",
+          "hallway",
+          "office",
+          "workout/gym/exercise"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
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+    "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": {
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+      "current_room": "hallway",
+      "landmark_room": "office",
+      "final_room": "workout/gym/exercise",
+      "remaining_rooms": [
+        "hallway",
+        "office",
+        "bedroom",
+        "workout/gym/exercise"
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+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "familyroom/lounge",
+        "hallway",
+        "office",
+        "workout/gym/exercise"
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+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "familyroom/lounge",
+        "hallway"
+      ]
+    }
+  }
+}

train/000545/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 545,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the elevator area. Walk out of the elevator and down the hall into the kitchen area. Walk around the kitchen counter tops towards the living room area. Walk up to the backside of the couches near the table lamp. ', instruction_tokens=[2584, 1264, 2389, 839, 150, 15, 2584, 1658, 1605, 2389, 839, 119, 780, 2389, 1121, 1264, 2389, 1306, 150, 15, 2584, 159, 2389, 1306, 598, 2447, 2452, 2389, 1404, 1994, 150, 15, 2584, 2527, 2438, 2389, 198, 1605, 2389, 595, 1563, 2389, 2342, 1325, 15])",
+  "instruction_text": "Walk into the elevator area. Walk out of the elevator and down the hall into the kitchen area. Walk around the kitchen counter tops towards the living room area. Walk up to the backside of the couches near the table lamp. ",
+  "num_steps": 128,
+  "total_unique_objects": 363,
+  "mindcraft_queries": [
+    {
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+      "query_timestep": 127,
+      "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": [
+        916
+      ],
+      "metadata": {
+        "probe_object_id": 916,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_40",
+        "first_seen_timestep": 62,
+        "best_view_timestep": 74,
+        "num_sightings": 10,
+        "spatial_relation": "right",
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+          4.147369861602783,
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+          0.11554622650146484,
+          -9.189188003540039
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+        "pixel_centroid_x": 223.9688473520249,
+        "normalized_position_x": 0.7497566199376946,
+        "object_pixel_count": 321,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 128
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 127,
+      "question": "Along your path, did you see the tv_monitor before or after the chair?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        506,
+        487
+      ],
+      "metadata": {
+        "object_A_id": 506,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 487,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 487,
+        "asked_second_object_id": 506
+      }
+    },
+    {
+      "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) bathroom (B) living room (C) familyroom/lounge",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "living room",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "bathroom",
+          "living room",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 110,
+        "rooms_visited": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 118,
+      "question": "From your current viewpoint, is the bed to the left or right of the tv_monitor?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        487,
+        761
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+      "metadata": {
+        "object_A_id": 487,
+        "object_A_category": "tv_monitor",
+        "object_A_position": [
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 59,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) utilityroom/toolroom (B) bedroom (C) office",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
+        "bedroom",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_39",
+        "adjacent_rooms": [
+          "2_37",
+          "2_38",
+          "2_40",
+          "2_42"
+        ],
+        "correct_answer_room": "2_40",
+        "all_options": [
+          "utilityroom/toolroom",
+          "bedroom",
+          "office"
+        ],
+        "context_rooms": "hallway, laundryroom/mudroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 27,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 27,
+        "current_room": "hallway",
+        "landmark_room": "stairs",
+        "final_room": "familyroom/lounge",
+        "remaining_rooms": [
+          "hallway",
+          "kitchen",
+          "stairs",
+          "familyroom/lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "familyroom/lounge",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 118,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) closet (C) porch/terrace/deck",
+    "answer": "A",
+    "options": [
+      "familyroom/lounge",
+      "closet",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "familyroom/lounge",
+      "all_options": [
+        "familyroom/lounge",
+        "closet",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 118,
+      "rooms_visited": [
+        "familyroom/lounge",
+        "hallway",
+        "kitchen",
+        "stairs"
+      ]
+    }
+  }
+}

train/000558/meta.json

@@ -0,0 +1,234 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='Head out of the bathroom and turn right and exit the bedroom. Wait in the doorway of the first room on the right. ', instruction_tokens=[1162, 1658, 1605, 2389, 242, 119, 2494, 1968, 119, 888, 2389, 273, 15, 2579, 1237, 2389, 766, 1605, 2389, 946, 1994, 1613, 2389, 1968, 15])",
+  "instruction_text": "Head out of the bathroom and turn right and exit the bedroom. Wait in the doorway of the first room on the right. ",
+  "num_steps": 61,
+  "total_unique_objects": 229,
+  "mindcraft_queries": [
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+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the shelving in the closet, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        206
+      ],
+      "metadata": {
+        "probe_object_id": 206,
+        "probe_category": "shelving",
+        "probe_room": "closet",
+        "probe_region_id": "1_7",
+        "first_seen_timestep": 36,
+        "best_view_timestep": 36,
+        "num_sightings": 3,
+        "spatial_relation": "right",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the shelving before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        373
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 373,
+        "object_B_category": "shelving",
+        "object_B_timestep": 16,
+        "time_gap": 16,
+        "asked_first_object_id": 373,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "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) dining room (B) bedroom (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "dining room",
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+        "rooms_visited": [
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+          "hallway"
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+      }
+    },
+    {
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+      "question": "From your current viewpoint, is the curtain to the left or right of the cabinet?",
+      "answer": "right",
+      "options": [
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+        "right"
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+      "probe_objects": [
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+        443
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+      "query_timestep": 53,
+      "question": "Based on your exploration and knowledge of the environment, which area is the balcony you see now directly connected to? (A) bedroom (B) entryway/foyer/lobby (C) stairs",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_8",
+        "adjacent_rooms": [
+          "1_2",
+          "1_9"
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+        "correct_answer_room": "1_2",
+        "all_options": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 24,
+      "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": 24,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "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": 19,
+    "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": 19,
+      "current_room": "bedroom",
+      "landmark_room": "bathroom",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "bedroom",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "visited_but_not_ahead",
+      "passed_rooms": [
+        "bathroom",
+        "bedroom"
+      ]
+    }
+  }
+}

train/000559/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 559,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/aayBHfsNo7d/aayBHfsNo7d.glb",
+  "instruction": "InstructionData(instruction_text='go through doorway, turn right, walk through hall and stop in doorway on right. ', instruction_tokens=[1067, 2418, 766, 2494, 1968, 2584, 2418, 1121, 119, 2278, 1237, 766, 1613, 1968, 15])",
+  "instruction_text": "go through doorway, turn right, walk through hall and stop in doorway on right. ",
+  "num_steps": 61,
+  "total_unique_objects": 229,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 60,
+      "question": "Recall your earlier path. When you passed by the plant in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        447
+      ],
+      "metadata": {
+        "probe_object_id": 447,
+        "probe_category": "plant",
+        "probe_room": "office",
+        "probe_region_id": "0_18",
+        "first_seen_timestep": 43,
+        "best_view_timestep": 44,
+        "num_sightings": 4,
+        "spatial_relation": "right",
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+        "agent_position_when_seen": [
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 61
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+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the curtain before or after the shelving?",
+      "answer": "before",
+      "options": [
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+      "probe_objects": [
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+        "object_B_id": 373,
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+        "time_gap": 16,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 373
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) bedroom (C) kitchen",
+      "answer": "B",
+      "options": [
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+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
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+        "rooms_visited": [
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+      "question": "From your current viewpoint, is the curtain to the left or right of the stairs?",
+      "answer": "right",
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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) living room (B) bedroom (C) hallway",
+      "answer": "C",
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+        "bedroom",
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+          "living room",
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+        "context_rooms": "bathroom, entryway/foyer/lobby"
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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": {
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+        "current_room": "bedroom",
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+    "question": "Recall your earlier path. When you passed by the plant in the office, was it on your left side or right side?",
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+      "determination_method": "pixel_position",
+      "total_trajectory_length": 61
+    }
+  }
+}

train/000575/meta.json

@@ -0,0 +1,203 @@
+{
+  "episode_id": 575,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the dining table and take a left into the hallway. In the hallway walk into the bathroom and stop on the rug. ', instruction_tokens=[2584, 1728, 2389, 711, 2342, 119, 2352, 73, 1360, 1264, 2389, 1126, 15, 1237, 2389, 1126, 2584, 1264, 2389, 242, 119, 2278, 1613, 2389, 2010, 15])",
+  "instruction_text": "Walk past the dining table and take a left into the hallway. In the hallway walk into the bathroom and stop on the rug. ",
+  "num_steps": 55,
+  "total_unique_objects": 61,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the furniture in the tv, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        92
+      ],
+      "metadata": {
+        "probe_object_id": 92,
+        "probe_category": "furniture",
+        "probe_room": "tv",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 7,
+        "best_view_timestep": 7,
+        "num_sightings": 6,
+        "spatial_relation": "right",
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+        "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 cushion before or after the mirror?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        67,
+        85
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+      "metadata": {
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+        "object_A_category": "mirror",
+        "object_A_timestep": 4,
+        "object_B_id": 85,
+        "object_B_category": "cushion",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 85,
+        "asked_second_object_id": 67
+      }
+    },
+    {
+      "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) entryway/foyer/lobby (B) bedroom (C) toilet",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "bedroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "bedroom",
+          "toilet"
+        ],
+        "query_timestep_internal": 39,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "entryway/foyer/lobby"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the tv you see now directly connected to? (A) familyroom/lounge (B) dining room (C) kitchen",
+      "answer": "B",
+      "options": [
+        "familyroom/lounge",
+        "dining room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_3",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "familyroom/lounge",
+          "dining room",
+          "kitchen"
+        ],
+        "context_rooms": "bathroom, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 14,
+      "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": 14,
+        "current_room": "dining room",
+        "landmark_room": "living room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "dining room",
+          "entryway/foyer/lobby",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "entryway/foyer/lobby"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 48,
+    "question": "From your current viewpoint, is the toilet to the left or right of the cabinet?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      69,
+      70
+    ],
+    "metadata": {
+      "object_A_id": 69,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        4.35359001159668,
+        0.4664049744606018,
+        0.5198220014572144
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+      "object_B_id": 70,
+      "object_B_category": "toilet",
+      "object_B_position": [
+        4.250100135803223,
+        0.3828238248825073,
+        1.649399995803833
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        1.7827198505401611,
+        0.07244700193405151,
+        0.213971346616745
+      ],
+      "agent_rotation": [
+        0.572289228439331,
+        0.0,
+        -0.8200518488883972,
+        0.0
+      ]
+    }
+  }
+}

train/000577/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 577,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards the kitchen area. Turn left and walk inside the bathroom. ', instruction_tokens=[2584, 2452, 2389, 1306, 150, 15, 2494, 1360, 119, 2584, 1249, 2389, 242, 15])",
+  "instruction_text": "Walk towards the kitchen area. Turn left and walk inside the bathroom. ",
+  "num_steps": 55,
+  "total_unique_objects": 61,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "question": "Recall your earlier path. When you passed by the sink in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        186
+      ],
+      "metadata": {
+        "probe_object_id": 186,
+        "probe_category": "sink",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 14,
+        "best_view_timestep": 16,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.8375029563903809,
+          1.2276101112365723
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+        "agent_position_when_seen": [
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+          0.07244700193405151,
+          -3.7082784175872803
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+        "pixel_centroid_x": 240.12429378531073,
+        "normalized_position_x": 0.87597104519774,
+        "object_pixel_count": 177,
+        "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 mirror before or after the cushion?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        67,
+        85
+      ],
+      "metadata": {
+        "object_A_id": 67,
+        "object_A_category": "mirror",
+        "object_A_timestep": 4,
+        "object_B_id": 85,
+        "object_B_category": "cushion",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 67,
+        "asked_second_object_id": 85
+      }
+    },
+    {
+      "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) toilet (B) familyroom/lounge (C) dining room",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "familyroom/lounge",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "toilet",
+          "familyroom/lounge",
+          "dining room"
+        ],
+        "query_timestep_internal": 5,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "entryway/foyer/lobby"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the cabinet in front of or behind the mirror?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        67,
+        69
+      ],
+      "metadata": {
+        "object_A_id": 67,
+        "object_A_category": "mirror",
+        "object_A_position": [
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+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          0.5198220014572144
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+        "spatial_relation": "behind",
+        "agent_position": [
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+          0.07244700193405151,
+          0.3864564001560211
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+          -0.8200518488883972,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 8,
+      "question": "Based on your exploration and knowledge of the environment, which area is the tv you see now directly connected to? (A) bathroom (B) toilet (C) bedroom",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "toilet",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_4",
+        "adjacent_rooms": [
+          "0_3",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_3",
+        "all_options": [
+          "bathroom",
+          "toilet",
+          "bedroom"
+        ],
+        "context_rooms": "dining room, entryway/foyer/lobby"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 8,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "dining room",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "dining room",
+          "entryway/foyer/lobby",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "entryway/foyer/lobby"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 54,
+    "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": [
+      172
+    ],
+    "metadata": {
+      "probe_object_id": 172,
+      "probe_category": "objects",
+      "probe_room": "kitchen",
+      "probe_region_id": "0_9",
+      "first_seen_timestep": 9,
+      "best_view_timestep": 23,
+      "num_sightings": 16,
+      "spatial_relation": "right",
+      "object_position": [
+        -2.0794200897216797,
+        0.4407919645309448,
+        -0.24772094190120697
+      ],
+      "agent_position_when_seen": [
+        0.45796868205070496,
+        0.07244700193405151,
+        -2.4686667919158936
+      ],
+      "pixel_centroid_x": 235.19050991501416,
+      "normalized_position_x": 0.8374258587110481,
+      "object_pixel_count": 1412,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 55
+    }
+  }
+}

train/000586/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 586,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text='Walk past the foot of the bed and pass the armchairs against the wall. Continue to through the door into the hallway. Walk down the hall and around the corner passing the hanging wall art towards the nook with arm chairs and fireplace. ', instruction_tokens=[2584, 1728, 2389, 980, 1605, 2389, 267, 119, 1721, 2389, 156, 96, 2389, 2593, 15, 569, 2438, 2418, 2389, 757, 1264, 2389, 1126, 15, 2584, 780, 2389, 1121, 119, 159, 2389, 589, 1727, 2389, 1149, 2593, 165, 2452, 2389, 1585, 2661, 153, 458, 119, 942, 15])",
+  "instruction_text": "Walk past the foot of the bed and pass the armchairs against the wall. Continue to through the door into the hallway. Walk down the hall and around the corner passing the hanging wall art towards the nook with arm chairs and fireplace. ",
+  "num_steps": 56,
+  "total_unique_objects": 219,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the objects in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        250
+      ],
+      "metadata": {
+        "probe_object_id": 250,
+        "probe_category": "objects",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 2,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          0.8717079758644104,
+          0.5707929134368896,
+          0.48630306124687195
+        ],
+        "agent_position_when_seen": [
+          2.1022799015045166,
+          0.1033330038189888,
+          -0.7889940142631531
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+        "pixel_centroid_x": 181.87531172069825,
+        "normalized_position_x": 0.4209008728179551,
+        "object_pixel_count": 802,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 56
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 55,
+      "question": "Along your path, did you see the bed before or after the fireplace?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        249,
+        149
+      ],
+      "metadata": {
+        "object_A_id": 249,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 149,
+        "object_B_category": "fireplace",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 249,
+        "asked_second_object_id": 149
+      }
+    },
+    {
+      "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) living room (B) bedroom (C) balcony",
+      "answer": "B",
+      "options": [
+        "living room",
+        "bedroom",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "living room",
+          "bedroom",
+          "balcony"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 42,
+      "question": "From your current viewpoint, is the bed to the left or right of the furniture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        466,
+        463
+      ],
+      "metadata": {
+        "object_A_id": 466,
+        "object_A_category": "furniture",
+        "object_A_position": [
+          8.863590240478516,
+          1.0768296718597412,
+          2.9102296829223633
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+        "object_B_id": 463,
+        "object_B_category": "bed",
+        "object_B_position": [
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+          0.5490409135818481,
+          0.5643740892410278
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -0.5327053666114807,
+          0.1033330038189888,
+          2.5008039474487305
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+        "agent_rotation": [
+          -0.4675336480140686,
+          0.0,
+          0.8839753270149231,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 38,
+      "question": "Based on your exploration and knowledge of the environment, which area is the balcony you see now directly connected to? (A) laundryroom/mudroom (B) balcony (C) bathroom",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "balcony",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_1",
+        "adjacent_rooms": [
+          "1_0",
+          "1_2"
+        ],
+        "correct_answer_room": "1_0",
+        "all_options": [
+          "laundryroom/mudroom",
+          "balcony",
+          "bathroom"
+        ],
+        "context_rooms": "office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "bedroom",
+        "landmark_room": "bathroom",
+        "final_room": "lounge",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) balcony (B) hallway (C) kitchen",
+    "answer": "B",
+    "options": [
+      "balcony",
+      "hallway",
+      "kitchen"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "balcony",
+        "hallway",
+        "kitchen"
+      ],
+      "query_timestep_internal": 43,
+      "rooms_visited": [
+        "bedroom",
+        "hallway",
+        "lounge"
+      ]
+    }
+  }
+}

train/000601/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 601,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/rPc6DW4iMge/rPc6DW4iMge.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway towards the stairs. Wait at the top of the stairs. ', instruction_tokens=[2584, 780, 2389, 1126, 2452, 2389, 2222, 15, 2579, 178, 2389, 2444, 1605, 2389, 2222, 15])",
+  "instruction_text": "Walk down the hallway towards the stairs. Wait at the top of the stairs. ",
+  "num_steps": 50,
+  "total_unique_objects": 122,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 49,
+      "question": "Recall your earlier path. When you passed by the picture in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        129
+      ],
+      "metadata": {
+        "probe_object_id": 129,
+        "probe_category": "picture",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 6,
+        "best_view_timestep": 7,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -5.644750118255615,
+          -1.6116397380828857,
+          -3.400449752807617
+        ],
+        "agent_position_when_seen": [
+          -2.251620054244995,
+          0.15942811965942383,
+          5.321390151977539
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+        "pixel_centroid_x": 122.33116883116882,
+        "normalized_position_x": -0.04428774350649356,
+        "object_pixel_count": 154,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 50
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 49,
+      "question": "Along your path, did you see the cabinet before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        30,
+        129
+      ],
+      "metadata": {
+        "object_A_id": 30,
+        "object_A_category": "cabinet",
+        "object_A_timestep": 3,
+        "object_B_id": 129,
+        "object_B_category": "picture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 30,
+        "asked_second_object_id": 129
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 18,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) balcony (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "balcony",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "balcony",
+          "hallway"
+        ],
+        "query_timestep_internal": 18,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 40,
+      "question": "From your current viewpoint, is the picture to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        414,
+        429
+      ],
+      "metadata": {
+        "object_A_id": 414,
+        "object_A_category": "railing",
+        "object_A_position": [
+          -1.5429600477218628,
+          0.6398789882659912,
+          1.041179895401001
+        ],
+        "object_B_id": 429,
+        "object_B_category": "picture",
+        "object_B_position": [
+          -2.751420021057129,
+          1.9109399318695068,
+          0.5208032131195068
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -2.292670726776123,
+          0.15942811965942383,
+          -0.8997867107391357
+        ],
+        "agent_rotation": [
+          -0.9998468160629272,
+          0.0,
+          0.017506763339042664,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 45,
+    "question": "From your current viewpoint, is the railing to the left or right of the stairs?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      182,
+      414
+    ],
+    "metadata": {
+      "object_A_id": 182,
+      "object_A_category": "stairs",
+      "object_A_position": [
+        -0.09195089340209961,
+        -1.6656301021575928,
+        0.9521209001541138
+      ],
+      "object_B_id": 414,
+      "object_B_category": "railing",
+      "object_B_position": [
+        -1.5429600477218628,
+        0.6398789882659912,
+        1.041179895401001
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -2.292670726776123,
+        0.15942811965942383,
+        -0.8997867107391357
+      ],
+      "agent_rotation": [
+        -0.7825743556022644,
+        0.0,
+        0.6225572228431702,
+        0.0
+      ]
+    }
+  }
+}

train/000650/meta.json

@@ -0,0 +1,194 @@
+{
+  "episode_id": 650,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the living room passed the couches. Walk past the open entryway. Walk up the stairs ahead to the second level of the home. ', instruction_tokens=[2584, 2418, 2389, 1404, 1994, 1725, 2389, 595, 15, 2584, 1728, 2389, 1625, 872, 15, 2584, 2527, 2389, 2222, 98, 2438, 2389, 2054, 1375, 1605, 2389, 1198, 15])",
+  "instruction_text": "Walk through the living room passed the couches. Walk past the open entryway. Walk up the stairs ahead to the second level of the home. ",
+  "num_steps": 74,
+  "total_unique_objects": 198,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "question": "Recall your earlier path. When you passed by the stairs in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        660
+      ],
+      "metadata": {
+        "probe_object_id": 660,
+        "probe_category": "stairs",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 15,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          -9.732789993286133,
+          1.5751996040344238,
+          -4.154919624328613
+        ],
+        "agent_position_when_seen": [
+          -5.855320930480957,
+          0.09666500240564346,
+          -1.1701335906982422
+        ],
+        "pixel_centroid_x": 112.82874617737004,
+        "normalized_position_x": -0.1185254204892966,
+        "object_pixel_count": 327,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 74
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 73,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        85,
+        177
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 177,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 85,
+        "asked_second_object_id": 177
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 59,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) living room (C) workout/gym/exercise",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "living room",
+        "workout/gym/exercise"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "living room",
+          "workout/gym/exercise"
+        ],
+        "query_timestep_internal": 59,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 11,
+      "question": "You are currently in the familyroom/lounge, and you can see the kitchen, hallway. Based on your understanding of the environment layout, which other area is the familyroom/lounge directly connected to? (A) entryway/foyer/lobby (B) living room (C) stairs",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "living room",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_5",
+        "adjacent_rooms": [
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "living room",
+          "stairs"
+        ],
+        "context_rooms": "kitchen, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 29,
+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 29,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "stairs",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 65,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) kitchen (B) hallway (C) stairs",
+    "answer": "B",
+    "options": [
+      "kitchen",
+      "hallway",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_9",
+      "adjacent_rooms": [
+        "0_1",
+        "0_2",
+        "0_3",
+        "0_4",
+        "0_5",
+        "0_8"
+      ],
+      "correct_answer_room": "0_1",
+      "all_options": [
+        "kitchen",
+        "hallway",
+        "stairs"
+      ],
+      "context_rooms": "bedroom, dining room"
+    }
+  }
+}