Add files using upload-large-folder tool

train/000061/meta.json

@@ -0,0 +1,232 @@
+{
+  "episode_id": 61,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text=\"Go slightly left and then head up the staircase.  When you get to the top, stop.  That's where you will wait. \", instruction_tokens=[1067, 2164, 1360, 119, 2394, 1162, 2527, 2389, 2220, 15, 2632, 2703, 1046, 2438, 2389, 2444, 2278, 15, 2388, 9, 2018, 2633, 2703, 2648, 2579, 15])",
+  "instruction_text": "Go slightly left and then head up the staircase.  When you get to the top, stop.  That's where you will wait. ",
+  "num_steps": 54,
+  "total_unique_objects": 99,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 53,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        185
+      ],
+      "metadata": {
+        "probe_object_id": 185,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "3_8",
+        "first_seen_timestep": 39,
+        "best_view_timestep": 48,
+        "num_sightings": 13,
+        "spatial_relation": "right",
+        "object_position": [
+          -0.10758498311042786,
+          2.402869939804077,
+          2.382580041885376
+        ],
+        "agent_position_when_seen": [
+          -0.7067118883132935,
+          2.0896902084350586,
+          -3.7816317081451416
+        ],
+        "pixel_centroid_x": 171.4033020758195,
+        "normalized_position_x": 0.3390882974673399,
+        "object_pixel_count": 12477,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 54
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 53,
+      "question": "Along your path, did you see the objects before or after the stairs?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        320,
+        324
+      ],
+      "metadata": {
+        "object_A_id": 320,
+        "object_A_category": "stairs",
+        "object_A_timestep": 0,
+        "object_B_id": 324,
+        "object_B_category": "objects",
+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 324,
+        "asked_second_object_id": 320
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 17,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 17,
+        "rooms_visited": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 50,
+      "question": "From your current viewpoint, is the table to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        185,
+        431
+      ],
+      "metadata": {
+        "object_A_id": 185,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          -0.10758498311042786,
+          2.402869939804077,
+          2.382580041885376
+        ],
+        "object_B_id": 431,
+        "object_B_category": "table",
+        "object_B_position": [
+          0.4427109956741333,
+          2.3203394412994385,
+          5.331439018249512
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -0.5594319105148315,
+          2.1826040744781494,
+          -3.579620361328125
+        ],
+        "agent_rotation": [
+          0.30980178713798523,
+          0.0,
+          -0.9508011937141418,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) laundryroom/mudroom (B) kitchen (C) bathroom",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "kitchen",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "3_22",
+        "adjacent_rooms": [
+          "3_21",
+          "3_23",
+          "3_24",
+          "3_8"
+        ],
+        "correct_answer_room": "3_23",
+        "all_options": [
+          "laundryroom/mudroom",
+          "kitchen",
+          "bathroom"
+        ],
+        "context_rooms": "living room, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 26,
+      "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": 26,
+        "current_room": "stairs",
+        "landmark_room": "porch/terrace/deck",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 40,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) dining room (B) toilet (C) stairs",
+    "answer": "C",
+    "options": [
+      "dining room",
+      "toilet",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "2_18",
+      "adjacent_rooms": [
+        "2_10",
+        "2_11",
+        "2_13",
+        "2_16",
+        "2_17",
+        "2_19"
+      ],
+      "correct_answer_room": "2_17",
+      "all_options": [
+        "dining room",
+        "toilet",
+        "stairs"
+      ],
+      "context_rooms": "bedroom, bathroom"
+    }
+  }
+}

train/000140/meta.json

@@ -0,0 +1,140 @@
+{
+  "episode_id": 140,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hallway with the pool outside on the left. Stop by the double doors at the end of the hall. ', instruction_tokens=[2584, 780, 2389, 1126, 2661, 2389, 1846, 1665, 1613, 2389, 1360, 15, 2278, 404, 2389, 775, 762, 178, 2389, 851, 1605, 2389, 1121, 15])",
+  "instruction_text": "Walk down the hallway with the pool outside on the left. Stop by the double doors at the end of the hall. ",
+  "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 stool in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        238
+      ],
+      "metadata": {
+        "probe_object_id": 238,
+        "probe_category": "stool",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 4,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.36913001537323,
+          0.2666420340538025,
+          -0.9790538549423218
+        ],
+        "agent_position_when_seen": [
+          -7.055910110473633,
+          0.09666500240564346,
+          4.947279930114746
+        ],
+        "pixel_centroid_x": 27.022556390977442,
+        "normalized_position_x": -0.7888862781954887,
+        "object_pixel_count": 133,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 53,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) kitchen (C) hallway",
+      "answer": "C",
+      "options": [
+        "bedroom",
+        "kitchen",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "kitchen",
+          "hallway"
+        ],
+        "query_timestep_internal": 53,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the fireplace?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        191,
+        190
+      ],
+      "metadata": {
+        "object_A_id": 191,
+        "object_A_category": "fireplace",
+        "object_A_position": [
+          0.6548349857330322,
+          0.7975990772247314,
+          -2.7705399990081787
+        ],
+        "object_B_id": 190,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -5.958489894866943,
+          1.0956599712371826,
+          -2.7888498306274414
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          -7.055910110473633,
+          0.09666500240564346,
+          4.947279930114746
+        ],
+        "agent_rotation": [
+          0.9775903224945068,
+          0.0,
+          -0.21051660180091858,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 27,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) bedroom (C) hallway",
+    "answer": "C",
+    "options": [
+      "familyroom/lounge",
+      "bedroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "familyroom/lounge",
+        "bedroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 27,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

train/000247/meta.json

@@ -0,0 +1,182 @@
+{
+  "episode_id": 247,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/EDJbREhghzL/EDJbREhghzL.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn to the right, and walk down the sidewalk.  Go around the center of it and walk on the grass.  When you're just past the planter, you should stop and wait. \", instruction_tokens=[2494, 2438, 2389, 1968, 119, 2584, 780, 2389, 2123, 15, 1067, 159, 2389, 450, 1605, 1272, 119, 2584, 1613, 2389, 1091, 15, 2632, 2703, 9, 1918, 1293, 1728, 2389, 1812, 2703, 2109, 2278, 119, 2579, 15])",
+  "instruction_text": "Turn to the right, and walk down the sidewalk.  Go around the center of it and walk on the grass.  When you're just past the planter, you should stop and wait. ",
+  "num_steps": 66,
+  "total_unique_objects": 328,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the plant in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        498
+      ],
+      "metadata": {
+        "probe_object_id": 498,
+        "probe_category": "plant",
+        "probe_room": "hallway",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 23,
+        "best_view_timestep": 24,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
+          -2.6552200317382812,
+          1.1370199918746948,
+          2.601719856262207
+        ],
+        "agent_position_when_seen": [
+          4.745696067810059,
+          3.6780738830566406,
+          2.317049264907837
+        ],
+        "pixel_centroid_x": 245.12605042016807,
+        "normalized_position_x": 0.915047268907563,
+        "object_pixel_count": 119,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the plant before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        27,
+        1
+      ],
+      "metadata": {
+        "object_A_id": 27,
+        "object_A_category": "",
+        "object_A_timestep": 3,
+        "object_B_id": 1,
+        "object_B_category": "plant",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 27
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) lounge (C) balcony",
+      "answer": "C",
+      "options": [
+        "living room",
+        "lounge",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "living room",
+          "lounge",
+          "balcony"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "balcony"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 52,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the seating?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        181,
+        191
+      ],
+      "metadata": {
+        "object_A_id": 181,
+        "object_A_category": "seating",
+        "object_A_position": [
+          -7.437310218811035,
+          0.5380940437316895,
+          -0.5945649147033691
+        ],
+        "object_B_id": 191,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          -5.927849769592285,
+          0.5417460203170776,
+          1.463289737701416
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          0.21688562631607056,
+          3.33549427986145,
+          3.3934810161590576
+        ],
+        "agent_rotation": [
+          -0.697430431842804,
+          0.0,
+          -0.716652512550354,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 65,
+    "question": "Recall your earlier path. When you passed by the fireplace in the bedroom, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      274
+    ],
+    "metadata": {
+      "probe_object_id": 274,
+      "probe_category": "fireplace",
+      "probe_room": "bedroom",
+      "probe_region_id": "0_6",
+      "first_seen_timestep": 4,
+      "best_view_timestep": 11,
+      "num_sightings": 11,
+      "spatial_relation": "right",
+      "object_position": [
+        0.78473299741745,
+        0.4989590644836426,
+        -1.2785298824310303
+      ],
+      "agent_position_when_seen": [
+        7.6829423904418945,
+        3.357482433319092,
+        1.8488075733184814
+      ],
+      "pixel_centroid_x": 174.47666666666666,
+      "normalized_position_x": 0.3630989583333333,
+      "object_pixel_count": 300,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 66
+    }
+  }
+}

train/000276/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 276,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/D7N2EKCX4Sj/D7N2EKCX4Sj.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the living room passed the fire place. Go through the open glass double doors into the room with great room plaque above the door. Walk into the dining room and stop near the closest table ahead. ', instruction_tokens=[2584, 2418, 2389, 1404, 1994, 1725, 2389, 940, 1801, 15, 1067, 2418, 2389, 1625, 1057, 775, 762, 1264, 2389, 1994, 2661, 1097, 1994, 1815, 78, 2389, 757, 15, 2584, 1264, 2389, 711, 1994, 119, 2278, 1563, 2389, 520, 2342, 98, 15])",
+  "instruction_text": "Walk through the living room passed the fire place. Go through the open glass double doors into the room with great room plaque above the door. Walk into the dining room and stop near the closest table ahead. ",
+  "num_steps": 34,
+  "total_unique_objects": 246,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "question": "Recall your earlier path. When you passed by the lighting in the lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        671
+      ],
+      "metadata": {
+        "probe_object_id": 671,
+        "probe_category": "lighting",
+        "probe_room": "lounge",
+        "probe_region_id": "1_18",
+        "first_seen_timestep": 28,
+        "best_view_timestep": 31,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
+          3.956350088119507,
+          0.9160940647125244,
+          -2.778949737548828
+        ],
+        "agent_position_when_seen": [
+          4.431664943695068,
+          -3.192077875137329,
+          -2.2496337890625
+        ],
+        "pixel_centroid_x": 183.375,
+        "normalized_position_x": 0.4326171875,
+        "object_pixel_count": 496,
+        "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 bed before or after the beam?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1136,
+        97
+      ],
+      "metadata": {
+        "object_A_id": 1136,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 97,
+        "object_B_category": "beam",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1136,
+        "asked_second_object_id": 97
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) familyroom/lounge (B) balcony (C) office",
+      "answer": "A",
+      "options": [
+        "familyroom/lounge",
+        "balcony",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "familyroom/lounge",
+        "all_options": [
+          "familyroom/lounge",
+          "balcony",
+          "office"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "dining room",
+          "familyroom/lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the objects to the left or right of the railing?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        1239,
+        1247
+      ],
+      "metadata": {
+        "object_A_id": 1239,
+        "object_A_category": "railing",
+        "object_A_position": [
+          5.154379844665527,
+          4.146279811859131,
+          -0.024211406707763672
+        ],
+        "object_B_id": 1247,
+        "object_B_category": "objects",
+        "object_B_position": [
+          5.4012298583984375,
+          3.819159746170044,
+          -2.8751399517059326
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          4.405625343322754,
+          -3.192077875137329,
+          -4.241995334625244
+        ],
+        "agent_rotation": [
+          0.12089797854423523,
+          0.0,
+          -0.9926649332046509,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) lounge (B) stairs (C) junk",
+      "answer": "B",
+      "options": [
+        "lounge",
+        "stairs",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_2",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_10",
+          "0_3",
+          "0_5",
+          "0_6",
+          "0_7"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "lounge",
+          "stairs",
+          "junk"
+        ],
+        "context_rooms": "porch/terrace/deck, dining room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "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": 11,
+        "current_room": "familyroom/lounge",
+        "landmark_room": "bathroom",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "familyroom/lounge",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "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": 8,
+    "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": 8,
+      "current_room": "familyroom/lounge",
+      "landmark_room": "lounge",
+      "final_room": "dining room",
+      "remaining_rooms": [
+        "familyroom/lounge",
+        "dining room"
+      ],
+      "all_rooms_in_trajectory": [
+        "dining room",
+        "familyroom/lounge"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "familyroom/lounge"
+      ]
+    }
+  }
+}

train/000301/meta.json

@@ -0,0 +1,233 @@
+{
+  "episode_id": 301,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Go to the door\\r\\nGo to the wall lights on the left\\r\\nGo to the light switch\\r\\nGo forward one metre\\r\\nGo to the seat on the right\\r\\nGo to the glass doors. ', instruction_tokens=[1067, 2438, 2389, 757, 1067, 2438, 2389, 2593, 1383, 1613, 2389, 1360, 1067, 2438, 2389, 1378, 2333, 1067, 993, 1616, 1499, 1067, 2438, 2389, 2050, 1613, 2389, 1968, 1067, 2438, 2389, 1057, 762, 15])",
+  "instruction_text": "Go to the door\r\nGo to the wall lights on the left\r\nGo to the light switch\r\nGo forward one metre\r\nGo to the seat on the right\r\nGo to the glass doors. ",
+  "num_steps": 97,
+  "total_unique_objects": 86,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 96,
+      "question": "Recall your earlier path. When you passed by the plant in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        266
+      ],
+      "metadata": {
+        "probe_object_id": 266,
+        "probe_category": "plant",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 16,
+        "best_view_timestep": 18,
+        "num_sightings": 4,
+        "spatial_relation": "left",
+        "object_position": [
+          -7.975369930267334,
+          1.6591298580169678,
+          1.1211602687835693
+        ],
+        "agent_position_when_seen": [
+          -5.864437580108643,
+          0.12697899341583252,
+          -1.8510096073150635
+        ],
+        "pixel_centroid_x": 16.932135728542914,
+        "normalized_position_x": -0.8677176896207585,
+        "object_pixel_count": 501,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 97
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 96,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        144
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 144,
+        "object_B_category": "objects",
+        "object_B_timestep": 16,
+        "time_gap": 16,
+        "asked_first_object_id": 28,
+        "asked_second_object_id": 144
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 21,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) toilet (C) hallway",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "toilet",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "stairs",
+          "toilet",
+          "hallway"
+        ],
+        "query_timestep_internal": 21,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 37,
+      "question": "From your current viewpoint, is the chair in front of or behind the table?",
+      "answer": "behind",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        236,
+        230
+      ],
+      "metadata": {
+        "object_A_id": 236,
+        "object_A_category": "table",
+        "object_A_position": [
+          -12.432100296020508,
+          0.25960469245910645,
+          2.962359666824341
+        ],
+        "object_B_id": 230,
+        "object_B_category": "chair",
+        "object_B_position": [
+          -11.604999542236328,
+          0.548630952835083,
+          2.792520046234131
+        ],
+        "spatial_relation": "behind",
+        "agent_position": [
+          -9.510303497314453,
+          0.12697899341583252,
+          -2.4547598361968994
+        ],
+        "agent_rotation": [
+          0.6218503713607788,
+          0.0,
+          0.7831361293792725,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the spa/sauna you see now directly connected to? (A) stairs (B) office (C) bathroom",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "office",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_10",
+          "0_4",
+          "0_5",
+          "0_7",
+          "0_9"
+        ],
+        "correct_answer_room": "0_5",
+        "all_options": [
+          "stairs",
+          "office",
+          "bathroom"
+        ],
+        "context_rooms": "hallway, toilet"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 48,
+      "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": 48,
+        "current_room": "hallway",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 45,
+    "question": "Based on your exploration and knowledge of the environment, which area is the toilet you see now directly connected to? (A) office (B) entryway/foyer/lobby (C) bathroom",
+    "answer": "C",
+    "options": [
+      "office",
+      "entryway/foyer/lobby",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_4",
+      "adjacent_rooms": [
+        "0_5",
+        "0_6",
+        "0_7",
+        "0_9"
+      ],
+      "correct_answer_room": "0_5",
+      "all_options": [
+        "office",
+        "entryway/foyer/lobby",
+        "bathroom"
+      ],
+      "context_rooms": "spa/sauna, spa/sauna"
+    }
+  }
+}

train/000327/meta.json

@@ -0,0 +1,87 @@
+{
+  "episode_id": 327,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='STARTING IN AN OFFICE FACING AN OPEN DOOR LOOKING DOWN A HALLWAY, WALK THOUGH THE DOOR AND DOWN THE HALLWAY UNTIL YOU REACH THE END, TURN TO THE RIGHT AND WALK FORWARD UNTIL YOU REACH THE FIRST DOOR ON THE RIGHT HAND SIDE. ', instruction_tokens=[2247, 1237, 118, 1607, 906, 118, 1625, 757, 1421, 780, 73, 1126, 2584, 2411, 2389, 757, 119, 780, 2389, 1126, 2524, 2703, 1920, 2389, 851, 2494, 2438, 2389, 1968, 119, 2584, 993, 2524, 2703, 1920, 2389, 946, 757, 1613, 2389, 1968, 1135, 2121, 15])",
+  "instruction_text": "STARTING IN AN OFFICE FACING AN OPEN DOOR LOOKING DOWN A HALLWAY, WALK THOUGH THE DOOR AND DOWN THE HALLWAY UNTIL YOU REACH THE END, TURN TO THE RIGHT AND WALK FORWARD UNTIL YOU REACH THE FIRST DOOR ON THE RIGHT HAND SIDE. ",
+  "num_steps": 61,
+  "total_unique_objects": 615,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 60,
+      "question": "Along your path, did you see the table before or after the column?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        4,
+        1015
+      ],
+      "metadata": {
+        "object_A_id": 4,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 1015,
+        "object_B_category": "column",
+        "object_B_timestep": 12,
+        "time_gap": 12,
+        "asked_first_object_id": 4,
+        "asked_second_object_id": 1015
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 48,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "other room",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 60,
+    "question": "Along your path, did you see the column before or after the table?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      4,
+      1015
+    ],
+    "metadata": {
+      "object_A_id": 4,
+      "object_A_category": "table",
+      "object_A_timestep": 0,
+      "object_B_id": 1015,
+      "object_B_category": "column",
+      "object_B_timestep": 12,
+      "time_gap": 12,
+      "asked_first_object_id": 1015,
+      "asked_second_object_id": 4
+    }
+  }
+}

train/000332/meta.json

@@ -0,0 +1,99 @@
+{
+  "episode_id": 332,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='turn hard left and walk down hallway. at the end of the hallway turn right and go into the dining room. ', instruction_tokens=[2494, 1152, 1360, 119, 2584, 780, 1126, 15, 178, 2389, 851, 1605, 2389, 1126, 2494, 1968, 119, 1067, 1264, 2389, 711, 1994, 15])",
+  "instruction_text": "turn hard left and walk down hallway. at the end of the hallway turn right and go into the dining room. ",
+  "num_steps": 50,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "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) hallway (B) laundryroom/mudroom (C) toilet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "laundryroom/mudroom",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "laundryroom/mudroom",
+          "toilet"
+        ],
+        "query_timestep_internal": 46,
+        "rooms_visited": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 7,
+      "question": "From your current position, will you pass through the familyroom/lounge on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 7,
+        "current_room": "kitchen",
+        "landmark_room": "familyroom/lounge",
+        "final_room": "dining room",
+        "remaining_rooms": [
+          "kitchen",
+          "bathroom",
+          "kitchen",
+          "hallway",
+          "dining room"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "dining room",
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 1,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) entryway/foyer/lobby (C) office",
+    "answer": "A",
+    "options": [
+      "kitchen",
+      "entryway/foyer/lobby",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "kitchen",
+      "all_options": [
+        "kitchen",
+        "entryway/foyer/lobby",
+        "office"
+      ],
+      "query_timestep_internal": 1,
+      "rooms_visited": [
+        "bathroom",
+        "dining room",
+        "hallway",
+        "kitchen"
+      ]
+    }
+  }
+}

train/000397/meta.json

@@ -0,0 +1,228 @@
+{
+  "episode_id": 397,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb",
+  "instruction": "InstructionData(instruction_text='Go to the right of the stairs and into the large master bedroom.  Wait at the doorway to the bathroom. ', instruction_tokens=[1067, 2438, 2389, 1968, 1605, 2389, 2222, 119, 1264, 2389, 1336, 1475, 273, 15, 2579, 178, 2389, 766, 2438, 2389, 242, 15])",
+  "instruction_text": "Go to the right of the stairs and into the large master bedroom.  Wait at the doorway to the bathroom. ",
+  "num_steps": 89,
+  "total_unique_objects": 215,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 88,
+      "question": "Recall your earlier path. When you passed by the mirror in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        707
+      ],
+      "metadata": {
+        "probe_object_id": 707,
+        "probe_category": "mirror",
+        "probe_room": "bathroom",
+        "probe_region_id": "1_32",
+        "first_seen_timestep": 48,
+        "best_view_timestep": 50,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          -6.167409896850586,
+          1.5666698217391968,
+          1.216270089149475
+        ],
+        "agent_position_when_seen": [
+          -6.568352222442627,
+          0.11554622650146484,
+          -1.4621394872665405
+        ],
+        "pixel_centroid_x": 130.9011160387933,
+        "normalized_position_x": 0.022664969053072692,
+        "object_pixel_count": 20519,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 89
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 88,
+      "question": "Along your path, did you see the  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        29,
+        162
+      ],
+      "metadata": {
+        "object_A_id": 29,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 162,
+        "object_B_category": "objects",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 29,
+        "asked_second_object_id": 162
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 28,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) closet (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "closet",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "closet",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 28,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the seating to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        509,
+        455
+      ],
+      "metadata": {
+        "object_A_id": 509,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -15.146900177001953,
+          0.5121029615402222,
+          1.9839098453521729
+        ],
+        "object_B_id": 455,
+        "object_B_category": "seating",
+        "object_B_position": [
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+          0.19836974143981934,
+          2.7023298740386963
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.11554622650146484,
+          -3.068000078201294
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+        "agent_rotation": [
+          -0.018184304237365723,
+          0.0,
+          0.9998346567153931,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 3,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) laundryroom/mudroom (B) workout/gym/exercise (C) living room",
+      "answer": "B",
+      "options": [
+        "laundryroom/mudroom",
+        "workout/gym/exercise",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_8",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_45",
+          "0_5",
+          "0_7"
+        ],
+        "correct_answer_room": "0_11",
+        "all_options": [
+          "laundryroom/mudroom",
+          "workout/gym/exercise",
+          "living room"
+        ],
+        "context_rooms": "hallway, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 33,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 33,
+        "current_room": "hallway",
+        "landmark_room": "closet",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 88,
+    "question": "Along your path, did you see the objects before or after the ?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      29,
+      162
+    ],
+    "metadata": {
+      "object_A_id": 29,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 162,
+      "object_B_category": "objects",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 162,
+      "asked_second_object_id": 29
+    }
+  }
+}

train/000481/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 481,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Go up the stairs, and take a left at the top of the stairs. Go through the arched doorway and stop in front of the bathroom. ', instruction_tokens=[1067, 2527, 2389, 2222, 119, 2352, 73, 1360, 178, 2389, 2444, 1605, 2389, 2222, 15, 1067, 2418, 2389, 144, 766, 119, 2278, 1237, 1019, 1605, 2389, 242, 15])",
+  "instruction_text": "Go up the stairs, and take a left at the top of the stairs. Go through the arched doorway and stop in front of the bathroom. ",
+  "num_steps": 66,
+  "total_unique_objects": 113,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the chest_of_drawers in the familyroom/lounge, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        452
+      ],
+      "metadata": {
+        "probe_object_id": 452,
+        "probe_category": "chest_of_drawers",
+        "probe_room": "familyroom/lounge",
+        "probe_region_id": "0_5",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 32,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
+          1.2382800579071045,
+          3.689150333404541,
+          -2.662799835205078
+        ],
+        "agent_position_when_seen": [
+          -9.246467590332031,
+          2.2832417488098145,
+          -5.386781692504883
+        ],
+        "pixel_centroid_x": 237.4203187250996,
+        "normalized_position_x": 0.8548462400398407,
+        "object_pixel_count": 502,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the picture before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        165,
+        434
+      ],
+      "metadata": {
+        "object_A_id": 165,
+        "object_A_category": "picture",
+        "object_A_timestep": 0,
+        "object_B_id": 434,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 165,
+        "asked_second_object_id": 434
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 47,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) living room (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "living room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 47,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 43,
+      "question": "From your current viewpoint, is the curtain to the left or right of the chest_of_drawers?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        452,
+        455
+      ],
+      "metadata": {
+        "object_A_id": 452,
+        "object_A_category": "chest_of_drawers",
+        "object_A_position": [
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+          3.689150333404541,
+          -2.662799835205078
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+        "object_B_id": 455,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          1.3866100311279297,
+          5.218790054321289,
+          -0.5111331939697266
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          -7.32344388961792,
+          3.2966651916503906,
+          -5.585290908813477
+        ],
+        "agent_rotation": [
+          -0.6105754971504211,
+          0.0,
+          0.7919580340385437,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 28,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) bedroom (B) hallway (C) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "hallway",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_14",
+        "adjacent_rooms": [
+          "1_13",
+          "1_18"
+        ],
+        "correct_answer_room": "1_13",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "stairs",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 28,
+    "question": "From your current viewpoint, is the bed to the left or right of the chest_of_drawers?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      452,
+      462
+    ],
+    "metadata": {
+      "object_A_id": 452,
+      "object_A_category": "chest_of_drawers",
+      "object_A_position": [
+        1.2382800579071045,
+        3.689150333404541,
+        -2.662799835205078
+      ],
+      "object_B_id": 462,
+      "object_B_category": "bed",
+      "object_B_position": [
+        -2.0298800468444824,
+        4.0732502937316895,
+        -2.5854296684265137
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        -10.11019515991211,
+        1.8729286193847656,
+        -4.882822513580322
+      ],
+      "agent_rotation": [
+        -0.8671674132347107,
+        0.0,
+        0.49801671504974365,
+        0.0
+      ]
+    }
+  }
+}

train/000527/meta.json

@@ -0,0 +1,184 @@
+{
+  "episode_id": 527,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Walk slightly forward and take a left turn before the red chair at the table. Walk forward until you see a white cabinet to your right, and then take a slight right towards the two stone walls. Walk towards the stone walls and wait here. ', instruction_tokens=[2584, 2164, 993, 119, 2352, 73, 1360, 2494, 281, 2389, 1939, 457, 178, 2389, 2342, 15, 2584, 993, 2524, 2703, 2059, 73, 2637, 408, 2438, 2706, 1968, 119, 2394, 2352, 73, 2162, 1968, 2452, 2389, 2509, 2273, 2597, 15, 2584, 2452, 2389, 2273, 2597, 119, 2579, 1179, 15])",
+  "instruction_text": "Walk slightly forward and take a left turn before the red chair at the table. Walk forward until you see a white cabinet to your right, and then take a slight right towards the two stone walls. Walk towards the stone walls and wait here. ",
+  "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 shelving in the office, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        171
+      ],
+      "metadata": {
+        "probe_object_id": 171,
+        "probe_category": "shelving",
+        "probe_room": "office",
+        "probe_region_id": "1_7",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 26,
+        "num_sightings": 17,
+        "spatial_relation": "left",
+        "object_position": [
+          -1.7090301513671875,
+          1.238020420074463,
+          -4.740009307861328
+        ],
+        "agent_position_when_seen": [
+          9.851428985595703,
+          0.09357202053070068,
+          -1.211362361907959
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+        "pixel_centroid_x": 27.7524115755627,
+        "normalized_position_x": -0.7831842845659164,
+        "object_pixel_count": 622,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 44
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 43,
+      "question": "Along your path, did you see the objects before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        11,
+        195
+      ],
+      "metadata": {
+        "object_A_id": 11,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 195,
+        "object_B_category": "objects",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 195,
+        "asked_second_object_id": 11
+      }
+    },
+    {
+      "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) lounge (B) closet (C) office",
+      "answer": "C",
+      "options": [
+        "lounge",
+        "closet",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "lounge",
+          "closet",
+          "office"
+        ],
+        "query_timestep_internal": 26,
+        "rooms_visited": [
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 16,
+      "question": "From your current viewpoint, is the shelving to the left or right of the stool?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        332,
+        222
+      ],
+      "metadata": {
+        "object_A_id": 332,
+        "object_A_category": "stool",
+        "object_A_position": [
+          11.025400161743164,
+          0.4393659830093384,
+          1.8425999879837036
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+        "object_B_id": 222,
+        "object_B_category": "shelving",
+        "object_B_position": [
+          5.669410228729248,
+          1.2364697456359863,
+          4.179890155792236
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          11.339393615722656,
+          0.09357202053070068,
+          0.10577201843261719
+        ],
+        "agent_rotation": [
+          0.8979549407958984,
+          0.0,
+          0.4400874376296997,
+          0.0
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 7,
+    "question": "From your current viewpoint, is the table to the left or right of the chest_of_drawers?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      310,
+      224
+    ],
+    "metadata": {
+      "object_A_id": 310,
+      "object_A_category": "chest_of_drawers",
+      "object_A_position": [
+        10.094099998474121,
+        0.3612070083618164,
+        3.676039695739746
+      ],
+      "object_B_id": 224,
+      "object_B_category": "table",
+      "object_B_position": [
+        4.809030055999756,
+        0.29607486724853516,
+        3.8785600662231445
+      ],
+      "spatial_relation": "left",
+      "agent_position": [
+        12.595491409301758,
+        0.09357202053070068,
+        1.6525115966796875
+      ],
+      "agent_rotation": [
+        0.9477157592773438,
+        0.0,
+        0.3191157579421997,
+        0.0
+      ]
+    }
+  }
+}

train/000533/meta.json

@@ -0,0 +1,105 @@
+{
+  "episode_id": 533,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text='Turn to the left and go down the hallway towards the bedroom. Go through the archway.  Stop in front of the bedroom door. ', instruction_tokens=[2494, 2438, 2389, 1360, 119, 1067, 780, 2389, 1126, 2452, 2389, 273, 15, 1067, 2418, 2389, 147, 15, 2278, 1237, 1019, 1605, 2389, 273, 757, 15])",
+  "instruction_text": "Turn to the left and go down the hallway towards the bedroom. Go through the archway.  Stop in front of the bedroom door. ",
+  "num_steps": 27,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 7,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) balcony (B) dining room (C) kitchen",
+      "answer": "C",
+      "options": [
+        "balcony",
+        "dining room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "balcony",
+          "dining room",
+          "kitchen"
+        ],
+        "query_timestep_internal": 7,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "kitchen",
+        "landmark_room": "hallway",
+        "final_room": "stairs",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway",
+          "bathroom",
+          "stairs"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 5,
+    "question": "From your current position, will you pass through the office on the way to your destination?",
+    "answer": "no",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 5,
+      "current_room": "kitchen",
+      "landmark_room": "office",
+      "final_room": "stairs",
+      "remaining_rooms": [
+        "kitchen",
+        "hallway",
+        "bathroom",
+        "stairs"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "hallway",
+        "kitchen",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "kitchen"
+      ]
+    }
+  }
+}

train/000536/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 536,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/pRbA3pwrgk9/pRbA3pwrgk9.glb",
+  "instruction": "InstructionData(instruction_text='Step forward, turn right, and walk up the stairs.  At the landing, turn right and continue up the second flight of stairs.  At the top of the stairs, walk straight ahead until you get to the dining room table.  Stop in front of the table. ', instruction_tokens=[2260, 993, 2494, 1968, 119, 2584, 2527, 2389, 2222, 15, 178, 2389, 1329, 2494, 1968, 119, 569, 2527, 2389, 2054, 957, 1605, 2222, 15, 178, 2389, 2444, 1605, 2389, 2222, 2584, 2288, 98, 2524, 2703, 1046, 2438, 2389, 711, 1994, 2342, 15, 2278, 1237, 1019, 1605, 2389, 2342, 15])",
+  "instruction_text": "Step forward, turn right, and walk up the stairs.  At the landing, turn right and continue up the second flight of stairs.  At the top of the stairs, walk straight ahead until you get to the dining room table.  Stop in front of the table. ",
+  "num_steps": 80,
+  "total_unique_objects": 130,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 79,
+      "question": "Recall your earlier path. When you passed by the appliances in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        455
+      ],
+      "metadata": {
+        "probe_object_id": 455,
+        "probe_category": "appliances",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_10",
+        "first_seen_timestep": 41,
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+      "question": "Along your path, did you see the objects before or after the shelving?",
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+        310
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+        "object_A_category": "objects",
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+        "asked_second_object_id": 310
+      }
+    },
+    {
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+      "query_timestep": 69,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) laundryroom/mudroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "living room",
+        "laundryroom/mudroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "living room",
+          "laundryroom/mudroom",
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+        "rooms_visited": [
+          "dining room",
+          "hallway",
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+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 67,
+      "question": "From your current viewpoint, is the picture to the left or right of the chair?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        269,
+        272
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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) porch/terrace/deck (B) bedroom (C) stairs",
+      "answer": "C",
+      "options": [
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+        "stairs"
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+        "correct_answer_room": "3_8",
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+          "porch/terrace/deck",
+          "bedroom",
+          "stairs"
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+        "context_rooms": "balcony, dining room"
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 32,
+      "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": 32,
+        "current_room": "stairs",
+        "landmark_room": "hallway",
+        "final_room": "dining room",
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+        "passed_rooms": [
+          "hallway",
+          "stairs"
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+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 79,
+    "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
+    ],
+    "metadata": {
+      "probe_object_id": 148,
+      "probe_category": "counter",
+      "probe_room": "bathroom",
+      "probe_region_id": "2_5",
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+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 80
+    }
+  }
+}

train/000597/meta.json

@@ -0,0 +1,234 @@
+{
+  "episode_id": 597,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ZMojNkEp431/ZMojNkEp431.glb",
+  "instruction": "InstructionData(instruction_text='Exit the room. Go up the stairs. Cross the room to the large glass windows. ', instruction_tokens=[888, 2389, 1994, 15, 1067, 2527, 2389, 2222, 15, 627, 2389, 1994, 2438, 2389, 1336, 1057, 2654, 15])",
+  "instruction_text": "Exit the room. Go up the stairs. Cross the room to the large glass windows. ",
+  "num_steps": 61,
+  "total_unique_objects": 402,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
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+      "question": "Recall your earlier path. When you passed by the lighting in the kitchen, was it on your left side or right side?",
+      "answer": "right",
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+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        45
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+      "metadata": {
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+        "probe_category": "lighting",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_0",
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+        "total_trajectory_length": 61
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+    {
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+      "question": "Along your path, did you see the counter before or after the railing?",
+      "answer": "before",
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+      "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) junk (C) stairs",
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+      "question": "From your current viewpoint, is the lighting to the left or right of the stairs?",
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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) office (B) junk (C) kitchen",
+      "answer": "A",
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+      "question": "From your current position, will you pass through the stairs on the way to your destination?",
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+    "question": "Based on your memory and current observations, which room do you think you are in? (A) office (B) porch/terrace/deck (C) entryway/foyer/lobby",
+    "answer": "C",
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+      "office",
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+    "probe_objects": [],
+    "metadata": {
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+        "kitchen",
+        "lounge",
+        "stairs"
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+    }
+  }
+}

train/000666/meta.json

@@ -0,0 +1,140 @@
+{
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+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/JeFG25nYj2p/JeFG25nYj2p.glb",
+  "instruction": "InstructionData(instruction_text='Go to the right of the table towards the bookshelf. Go left around the table and continue to the chair at the end of the table next to the balcony. ', instruction_tokens=[1067, 2438, 2389, 1968, 1605, 2389, 2342, 2452, 2389, 339, 15, 1067, 1360, 159, 2389, 2342, 119, 569, 2438, 2389, 457, 178, 2389, 851, 1605, 2389, 2342, 1576, 2438, 2389, 203, 15])",
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+  "num_steps": 44,
+  "total_unique_objects": 21,
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+      "question": "Recall your earlier path. When you passed by the chair in the dining room, was it on your left side or right side?",
+      "answer": "right",
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+        "right"
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+      "probe_objects": [
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+      "metadata": {
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+        "probe_category": "chair",
+        "probe_room": "dining room",
+        "probe_region_id": "0_6",
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+    },
+    {
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+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) bedroom (C) hallway",
+      "answer": "A",
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+        "dining room",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+      "question": "From your current viewpoint, is the table to the left or right of the chair?",
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+    "question": "Based on your memory and current observations, which room do you think you are in? (A) laundryroom/mudroom (B) bathroom (C) dining room",
+    "answer": "C",
+    "options": [
+      "laundryroom/mudroom",
+      "bathroom",
+      "dining room"
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+    "probe_objects": [],
+    "metadata": {
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+      "rooms_visited": [
+        "dining room"
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+    }
+  }
+}

train/000765/meta.json

@@ -0,0 +1,246 @@
+{
+  "episode_id": 765,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/2n8kARJN3HM/2n8kARJN3HM.glb",
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+  "num_steps": 96,
+  "total_unique_objects": 243,
+  "mindcraft_queries": [
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+      "question": "Recall your earlier path. When you passed by the table in the living room, was it on your left side or right side?",
+      "answer": "left",
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+        "right"
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+      "probe_objects": [
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+      "metadata": {
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+        "probe_category": "table",
+        "probe_room": "living room",
+        "probe_region_id": "1_11",
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+        "determination_method": "pixel_position",
+        "total_trajectory_length": 96
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+    },
+    {
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+      "query_timestep": 95,
+      "question": "Along your path, did you see the shelving before or after the picture?",
+      "answer": "before",
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+        "at the same time"
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+      "probe_objects": [
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+        493
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+    {
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+      "query_timestep": 79,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) dining room (B) office (C) stairs",
+      "answer": "A",
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+        "office",
+        "stairs"
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+      "probe_objects": [],
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+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 81,
+      "question": "From your current viewpoint, is the tv_monitor to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        566,
+        567
+      ],
+      "metadata": {
+        "object_A_id": 566,
+        "object_A_category": "sofa",
+        "object_A_position": [
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+        "object_B_category": "tv_monitor",
+        "object_B_position": [
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+          -2.217219829559326,
+          1.4143798351287842
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+        "spatial_relation": "left",
+        "agent_position": [
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+          3.2852935791015625
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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 meetingroom/conferenceroom you see now directly connected to? (A) office (B) hallway (C) living room",
+      "answer": "B",
+      "options": [
+        "office",
+        "hallway",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_13",
+        "adjacent_rooms": [
+          "1_12",
+          "1_14",
+          "1_7"
+        ],
+        "correct_answer_room": "1_12",
+        "all_options": [
+          "office",
+          "hallway",
+          "living room"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 34,
+      "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": 34,
+        "current_room": "living room",
+        "landmark_room": "dining room",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "living room",
+          "hallway",
+          "dining room",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "hallway",
+          "living room"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "living room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 9,
+    "question": "From your current viewpoint, is the shelving to the left or right of the chair?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      413,
+      398
+    ],
+    "metadata": {
+      "object_A_id": 413,
+      "object_A_category": "chair",
+      "object_A_position": [
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+        0.5332760810852051,
+        -0.13489197194576263
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+      "object_B_id": 398,
+      "object_B_category": "shelving",
+      "object_B_position": [
+        16.281600952148438,
+        1.5818099975585938,
+        2.372339963912964
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+      "spatial_relation": "left",
+      "agent_position": [
+        18.070226669311523,
+        0.13123798370361328,
+        -2.0701937675476074
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+      "agent_rotation": [
+        0.7108472585678101,
+        0.0,
+        0.7033464908599854,
+        0.0
+      ]
+    }
+  }
+}

train/000777/meta.json

@@ -0,0 +1,230 @@
+{
+  "episode_id": 777,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='TURN LEFT UNTIL YOU FACE A DOOR WAY WITH STAIRS ON THE LEFT AND A BAR TOP ON THE RIGHT, WALK FORWARD INTO THE DOORWAY, WALK FORWARD INTO THE MIDDLE OF A HALLWAY FILLED WITH OPEN DOORS. ', instruction_tokens=[2494, 1360, 2524, 2703, 903, 73, 757, 2616, 2661, 2222, 1613, 2389, 1360, 119, 73, 217, 2444, 1613, 2389, 1968, 2584, 993, 1264, 2389, 766, 2584, 993, 1264, 2389, 1506, 1605, 73, 1126, 933, 2661, 1625, 762, 15])",
+  "instruction_text": "TURN LEFT UNTIL YOU FACE A DOOR WAY WITH STAIRS ON THE LEFT AND A BAR TOP ON THE RIGHT, WALK FORWARD INTO THE DOORWAY, WALK FORWARD INTO THE MIDDLE OF A HALLWAY FILLED WITH OPEN DOORS. ",
+  "num_steps": 35,
+  "total_unique_objects": 49,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 34,
+      "question": "Recall your earlier path. When you passed by the picture in the entryway/foyer/lobby, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        156
+      ],
+      "metadata": {
+        "probe_object_id": 156,
+        "probe_category": "picture",
+        "probe_room": "entryway/foyer/lobby",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 13,
+        "spatial_relation": "left",
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 35
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 34,
+      "question": "Along your path, did you see the bed before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
+        135,
+        5
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+      "metadata": {
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+        "object_A_category": "shelving",
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+        "object_B_timestep": 5,
+        "time_gap": 5,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 135
+      }
+    },
+    {
+      "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) entryway/foyer/lobby (B) utilityroom/toolroom (C) stairs",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "utilityroom/toolroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "utilityroom/toolroom",
+          "stairs"
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+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 9,
+      "question": "From your current viewpoint, is the stairs to the left or right of the picture?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
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+        145
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+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 18,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the other room, workout/gym/exercise. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) entryway/foyer/lobby (B) spa/sauna (C) bathroom",
+      "answer": "A",
+      "options": [
+        "entryway/foyer/lobby",
+        "spa/sauna",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_9",
+        "adjacent_rooms": [
+          "0_12",
+          "0_13",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "entryway/foyer/lobby",
+          "spa/sauna",
+          "bathroom"
+        ],
+        "context_rooms": "other room, workout/gym/exercise"
+      }
+    },
+    {
+      "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": "entryway/foyer/lobby",
+        "landmark_room": "hallway",
+        "final_room": "workout/gym/exercise",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "workout/gym/exercise"
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+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "hallway",
+          "workout/gym/exercise"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 34,
+    "question": "Along your path, did you see the shelving before or after the bed?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      135,
+      5
+    ],
+    "metadata": {
+      "object_A_id": 135,
+      "object_A_category": "shelving",
+      "object_A_timestep": 0,
+      "object_B_id": 5,
+      "object_B_category": "bed",
+      "object_B_timestep": 5,
+      "time_gap": 5,
+      "asked_first_object_id": 135,
+      "asked_second_object_id": 5
+    }
+  }
+}

train/000850/meta.json

@@ -0,0 +1,117 @@
+{
+  "episode_id": 850,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Go straight ahead, and take a right at the intersection. Walk forward to the next intersection, and stop in front of the exit sign. ', instruction_tokens=[1067, 2288, 98, 119, 2352, 73, 1968, 178, 2389, 1262, 15, 2584, 993, 2438, 2389, 1576, 1262, 119, 2278, 1237, 1019, 1605, 2389, 888, 2125, 15])",
+  "instruction_text": "Go straight ahead, and take a right at the intersection. Walk forward to the next intersection, and stop in front of the exit sign. ",
+  "num_steps": 35,
+  "total_unique_objects": 1336,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 34,
+      "question": "Along your path, did you see the table before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        10,
+        4
+      ],
+      "metadata": {
+        "object_A_id": 10,
+        "object_A_category": "table",
+        "object_A_timestep": 0,
+        "object_B_id": 4,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 10,
+        "asked_second_object_id": 4
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 34,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) other room (B) meetingroom/conferenceroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "other room",
+        "meetingroom/conferenceroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "other room",
+          "meetingroom/conferenceroom",
+          "hallway"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 11,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) dining booth (B) library (C) classroom",
+      "answer": "B",
+      "options": [
+        "dining booth",
+        "library",
+        "classroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_25",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_22",
+          "0_23",
+          "0_24"
+        ],
+        "correct_answer_room": "0_24",
+        "all_options": [
+          "dining booth",
+          "library",
+          "classroom"
+        ],
+        "context_rooms": "office, hallway"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 34,
+    "question": "Along your path, did you see the table before or after the table?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      10,
+      4
+    ],
+    "metadata": {
+      "object_A_id": 10,
+      "object_A_category": "table",
+      "object_A_timestep": 0,
+      "object_B_id": 4,
+      "object_B_category": "table",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 4,
+      "asked_second_object_id": 10
+    }
+  }
+}

train/000869/meta.json

@@ -0,0 +1,196 @@
+{
+  "episode_id": 869,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/82sE5b5pLXE/82sE5b5pLXE.glb",
+  "instruction": "InstructionData(instruction_text='Turn around 180 degrees and go down the hallway.  Take the first doorway on the right and walk into the bathroom. Stop just inside the door. ', instruction_tokens=[2494, 159, 35, 684, 119, 1067, 780, 2389, 1126, 15, 2352, 2389, 946, 766, 1613, 2389, 1968, 119, 2584, 1264, 2389, 242, 15, 2278, 1293, 1249, 2389, 757, 15])",
+  "instruction_text": "Turn around 180 degrees and go down the hallway.  Take the first doorway on the right and walk into the bathroom. Stop just inside the door. ",
+  "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 bed in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        388
+      ],
+      "metadata": {
+        "probe_object_id": 388,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_9",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          -4.026989459991455
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+        "agent_position_when_seen": [
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+          -4.207019805908203
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+        "pixel_centroid_x": 7.389408099688474,
+        "normalized_position_x": -0.9422702492211839,
+        "object_pixel_count": 321,
+        "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 sofa before or after the shower?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        351,
+        145
+      ],
+      "metadata": {
+        "object_A_id": 351,
+        "object_A_category": "shower",
+        "object_A_timestep": 0,
+        "object_B_id": 145,
+        "object_B_category": "sofa",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 145,
+        "asked_second_object_id": 351
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 3,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) bedroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "bedroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "stairs",
+          "bedroom",
+          "kitchen"
+        ],
+        "query_timestep_internal": 3,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) living room (C) bathroom",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "living room",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
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+          "0_12",
+          "0_14",
+          "0_15",
+          "0_2",
+          "0_3"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "bedroom",
+          "living room",
+          "bathroom"
+        ],
+        "context_rooms": "kitchen, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 20,
+      "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": 20,
+        "current_room": "bedroom",
+        "landmark_room": "kitchen",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway",
+          "bathroom"
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+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
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+    "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": "bedroom",
+      "landmark_room": "hallway",
+      "final_room": "bathroom",
+      "remaining_rooms": [
+        "bedroom",
+        "hallway",
+        "bathroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bathroom",
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "bedroom"
+      ]
+    }
+  }
+}

train/000901/meta.json

@@ -0,0 +1,251 @@
+{
+  "episode_id": 901,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the closet area and into the gym room. Walk passed the gym equipment and through the open door ahead.  Walk passed the bed in the bedroom and into the office area. ', instruction_tokens=[2584, 1658, 1605, 2389, 521, 150, 119, 1264, 2389, 1114, 1994, 15, 2584, 1725, 2389, 1114, 874, 119, 2418, 2389, 1625, 757, 98, 15, 2584, 1725, 2389, 267, 1237, 2389, 273, 119, 1264, 2389, 1607, 150, 15])",
+  "instruction_text": "Walk out of the closet area and into the gym room. Walk passed the gym equipment and through the open door ahead.  Walk passed the bed in the bedroom and into the office area. ",
+  "num_steps": 77,
+  "total_unique_objects": 595,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "question": "Recall your earlier path. When you passed by the fireplace in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        512
+      ],
+      "metadata": {
+        "probe_object_id": 512,
+        "probe_category": "fireplace",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_12",
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+        "best_view_timestep": 34,
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+        "determination_method": "pixel_position",
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+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
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+      "question": "Along your path, did you see the shelving before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
+        1,
+        12
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+        "object_A_id": 1,
+        "object_A_category": "shelving",
+        "object_A_timestep": 3,
+        "object_B_id": 12,
+        "object_B_category": "objects",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 12
+      }
+    },
+    {
+      "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) bedroom (B) living room (C) kitchen",
+      "answer": "A",
+      "options": [
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+        "living room",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+        "all_options": [
+          "bedroom",
+          "living room",
+          "kitchen"
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+        "rooms_visited": [
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+          "closet",
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+        ]
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+    {
+      "query_type": "L2.2_LocalSpatialRelation",
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+      "question": "From your current viewpoint, is the shelving to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        460,
+        435
+      ],
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+        "object_A_category": "table",
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+    {
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+      "query_timestep": 16,
+      "question": "Based on your exploration and knowledge of the environment, which area is the utilityroom/toolroom you see now directly connected to? (A) bathroom (B) familyroom/lounge (C) kitchen",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "kitchen"
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+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_24",
+          "0_5",
+          "0_7",
+          "0_9"
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+        "correct_answer_room": "0_7",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "kitchen"
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+        "context_rooms": "hallway, hallway"
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+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 11,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 11,
+        "current_room": "workout/gym/exercise",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
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+          "bedroom",
+          "office",
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+        "all_rooms_in_trajectory": [
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+          "workout/gym/exercise"
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+        "negative_kind": null,
+        "passed_rooms": [
+          "closet"
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+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 4,
+    "question": "From your current viewpoint, is the mirror to the left or right of the sofa?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      437,
+      698
+    ],
+    "metadata": {
+      "object_A_id": 437,
+      "object_A_category": "sofa",
+      "object_A_position": [
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+        0.27362608909606934,
+        3.899780035018921
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+      "object_B_id": 698,
+      "object_B_category": "mirror",
+      "object_B_position": [
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+        1.944929838180542,
+        -2.808159828186035
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+      "spatial_relation": "right",
+      "agent_position": [
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+        0.13922199606895447,
+        -5.277070045471191
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+      "agent_rotation": [
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+        0.0,
+        -0.4635414183139801,
+        0.0
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+    }
+  }
+}

train/000902/meta.json

@@ -0,0 +1,244 @@
+{
+  "episode_id": 902,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='Exit closet and go straight down hallway past bathroom and weight machines. Continue straight towards bedroom and once in bedroom take an immediate right. Enter office and go left past the desk and towards the double doors. Go through the doorway and wait by wall art of deer. ', instruction_tokens=[888, 521, 119, 1067, 2288, 780, 1126, 1728, 242, 119, 2618, 1440, 15, 569, 2288, 2452, 273, 119, 1615, 1237, 273, 2352, 118, 1233, 1968, 15, 860, 1607, 119, 1067, 1360, 1728, 2389, 692, 119, 2452, 2389, 775, 762, 15, 1067, 2418, 2389, 766, 119, 2579, 404, 2593, 165, 1605, 682, 15])",
+  "instruction_text": "Exit closet and go straight down hallway past bathroom and weight machines. Continue straight towards bedroom and once in bedroom take an immediate right. Enter office and go left past the desk and towards the double doors. Go through the doorway and wait by wall art of deer. ",
+  "num_steps": 77,
+  "total_unique_objects": 595,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 76,
+      "question": "Recall your earlier path. When you passed by the fireplace in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        512
+      ],
+      "metadata": {
+        "probe_object_id": 512,
+        "probe_category": "fireplace",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 4,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 77
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+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 76,
+      "question": "Along your path, did you see the shelving before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
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+      "probe_objects": [
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+        12
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+        "object_A_category": "shelving",
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+        "object_B_id": 12,
+        "object_B_category": "objects",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 12
+      }
+    },
+    {
+      "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) workout/gym/exercise (B) utilityroom/toolroom (C) porch/terrace/deck",
+      "answer": "A",
+      "options": [
+        "workout/gym/exercise",
+        "utilityroom/toolroom",
+        "porch/terrace/deck"
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+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
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+          "porch/terrace/deck"
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+      "question": "From your current viewpoint, is the fireplace to the left or right of the sofa?",
+      "answer": "right",
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+      "question": "Based on your exploration and knowledge of the environment, which area is the utilityroom/toolroom you see now directly connected to? (A) kitchen (B) hallway (C) dining room",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "hallway",
+        "dining room"
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+      "probe_objects": [],
+      "metadata": {
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+        "adjacent_rooms": [
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+        "correct_answer_room": "0_5",
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+          "kitchen",
+          "hallway",
+          "dining room"
+        ],
+        "context_rooms": "utilityroom/toolroom"
+      }
+    },
+    {
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+      "query_timestep": 37,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
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+        "current_room": "bedroom",
+        "landmark_room": "closet",
+        "final_room": "hallway",
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+          "hallway",
+          "office",
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+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "closet",
+          "workout/gym/exercise"
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+    }
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+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
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+    "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": 34,
+      "current_room": "workout/gym/exercise",
+      "landmark_room": "bedroom",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "workout/gym/exercise",
+        "bedroom",
+        "office",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "closet",
+        "hallway",
+        "office",
+        "workout/gym/exercise"
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+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "closet",
+        "workout/gym/exercise"
+      ]
+    }
+  }
+}

train/000930/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 930,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/qoiz87JEwZ2/qoiz87JEwZ2.glb",
+  "instruction": "InstructionData(instruction_text='Make a right at the hallway at the top of the stairs and go straight down the hallway. At the end of the hall make a left and go down that small hall. Go into the bedroom straight ahead and wait on the couch by the bed. ', instruction_tokens=[1446, 73, 1968, 178, 2389, 1126, 178, 2389, 2444, 1605, 2389, 2222, 119, 1067, 2288, 780, 2389, 1126, 15, 178, 2389, 851, 1605, 2389, 1121, 1446, 73, 1360, 119, 1067, 780, 2388, 2170, 1121, 15, 1067, 1264, 2389, 273, 2288, 98, 119, 2579, 1613, 2389, 593, 404, 2389, 267, 15])",
+  "instruction_text": "Make a right at the hallway at the top of the stairs and go straight down the hallway. At the end of the hall make a left and go down that small hall. Go into the bedroom straight ahead and wait on the couch by the bed. ",
+  "num_steps": 57,
+  "total_unique_objects": 204,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 56,
+      "question": "Recall your earlier path. When you passed by the cushion in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        455
+      ],
+      "metadata": {
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+        "probe_category": "cushion",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_15",
+        "first_seen_timestep": 45,
+        "best_view_timestep": 47,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
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+          -2.9357426166534424
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+        "object_pixel_count": 912,
+        "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 picture before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
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+        110
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+      "metadata": {
+        "object_A_id": 44,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 110,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 110,
+        "asked_second_object_id": 44
+      }
+    },
+    {
+      "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) hallway (C) balcony",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "hallway",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "kitchen",
+          "hallway",
+          "balcony"
+        ],
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+        "rooms_visited": [
+          "bedroom",
+          "hallway"
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+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 20,
+      "question": "From your current viewpoint, is the curtain to the left or right of the objects?",
+      "answer": "right",
+      "options": [
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+        "right"
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+      "probe_objects": [
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+        412
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+        "object_B_category": "curtain",
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 51,
+      "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) stairs (B) dining room (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "dining room",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_4",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "stairs",
+          "dining room",
+          "entryway/foyer/lobby"
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+        "context_rooms": "familyroom/lounge, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "question": "From your current position, will you pass through the balcony on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 9,
+        "current_room": "hallway",
+        "landmark_room": "balcony",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 17,
+    "question": "From your current viewpoint, is the curtain to the left or right of the objects?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      429,
+      452
+    ],
+    "metadata": {
+      "object_A_id": 429,
+      "object_A_category": "objects",
+      "object_A_position": [
+        -6.120510101318359,
+        2.89039945602417,
+        -1.0875197649002075
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+      "object_B_id": 452,
+      "object_B_category": "curtain",
+      "object_B_position": [
+        2.295180082321167,
+        1.7813401222229004,
+        -2.595590114593506
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+      "spatial_relation": "left",
+      "agent_position": [
+        -3.5950734615325928,
+        0.3000051975250244,
+        -6.922767639160156
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+      "agent_rotation": [
+        0.08349531888961792,
+        0.0,
+        -0.9965081810951233,
+        0.0
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+    }
+  }
+}

train/000962/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 962,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight, then turn left and exit the kitchen. Walk toward the dining table and chairs. Stop and wait by the chairs. ', instruction_tokens=[2584, 2288, 2394, 2494, 1360, 119, 888, 2389, 1306, 15, 2584, 2451, 2389, 711, 2342, 119, 458, 15, 2278, 119, 2579, 404, 2389, 458, 15])",
+  "instruction_text": "Walk straight, then turn left and exit the kitchen. Walk toward the dining table and chairs. Stop and wait by the chairs. ",
+  "num_steps": 42,
+  "total_unique_objects": 179,
+  "mindcraft_queries": [
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+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 41,
+      "question": "Recall your earlier path. When you passed by the sofa in the tv, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        6
+      ],
+      "metadata": {
+        "probe_object_id": 6,
+        "probe_category": "sofa",
+        "probe_room": "tv",
+        "probe_region_id": "0_0",
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+        "best_view_timestep": 2,
+        "num_sightings": 4,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.19862794876098633,
+          1.6941900253295898
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+        "agent_position_when_seen": [
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+          -5.052989959716797
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+        "pixel_centroid_x": 240.30190571715144,
+        "normalized_position_x": 0.8773586384152456,
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+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
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+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 41,
+      "question": "Along your path, did you see the chair before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        47
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 47,
+        "object_B_category": "picture",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 47
+      }
+    },
+    {
+      "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) other room (B) kitchen (C) entryway/foyer/lobby",
+      "answer": "B",
+      "options": [
+        "other room",
+        "kitchen",
+        "entryway/foyer/lobby"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "other room",
+          "kitchen",
+          "entryway/foyer/lobby"
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+        "query_timestep_internal": 13,
+        "rooms_visited": [
+          "hallway",
+          "kitchen"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the objects to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
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+        580
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+      "metadata": {
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+        "object_A_category": "chair",
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+        "object_B_id": 580,
+        "object_B_category": "objects",
+        "object_B_position": [
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+          1.2512900829315186
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+      "query_timestep": 28,
+      "question": "Based on your exploration and knowledge of the environment, which area is the dining room you see now directly connected to? (A) workout/gym/exercise (B) bedroom (C) hallway",
+      "answer": "C",
+      "options": [
+        "workout/gym/exercise",
+        "bedroom",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2"
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+        "correct_answer_room": "0_1",
+        "all_options": [
+          "workout/gym/exercise",
+          "bedroom",
+          "hallway"
+        ],
+        "context_rooms": "living room"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "kitchen",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "kitchen",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 41,
+    "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": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      116
+    ],
+    "metadata": {
+      "probe_object_id": 116,
+      "probe_category": "table",
+      "probe_room": "dining room",
+      "probe_region_id": "0_3",
+      "first_seen_timestep": 4,
+      "best_view_timestep": 5,
+      "num_sightings": 2,
+      "spatial_relation": "left",
+      "object_position": [
+        1.2029199600219727,
+        0.6233513355255127,
+        -2.9480700492858887
+      ],
+      "agent_position_when_seen": [
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+        0.003321051597595215,
+        -4.802995204925537
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+      "pixel_centroid_x": 33.84738041002278,
+      "normalized_position_x": -0.735567340546697,
+      "object_pixel_count": 439,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 42
+    }
+  }
+}

train/000976/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 976,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the bedroom passed the bed and fireplace and out through the door nearest the bed. Walk into the hallway and stop near the circular mirror. ', instruction_tokens=[2584, 2418, 2389, 273, 1725, 2389, 267, 119, 942, 119, 1658, 2418, 2389, 757, 1565, 2389, 267, 15, 2584, 1264, 2389, 1126, 119, 2278, 1563, 2389, 504, 1515, 15])",
+  "instruction_text": "Walk through the bedroom passed the bed and fireplace and out through the door nearest the bed. Walk into the hallway and stop near the circular mirror. ",
+  "num_steps": 74,
+  "total_unique_objects": 148,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 73,
+      "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": [
+        70
+      ],
+      "metadata": {
+        "probe_object_id": 70,
+        "probe_category": "sofa",
+        "probe_room": "living room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 28,
+        "num_sightings": 14,
+        "spatial_relation": "left",
+        "object_position": [
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+          2.8424501419067383
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+        "agent_position_when_seen": [
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+        "pixel_centroid_x": 74.32572196104768,
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+        "object_pixel_count": 4467,
+        "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 table before or after the plant?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        20,
+        83
+      ],
+      "metadata": {
+        "object_A_id": 20,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 83,
+        "object_B_category": "table",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 83,
+        "asked_second_object_id": 20
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 69,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) bathroom (C) kitchen",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "bathroom",
+          "kitchen"
+        ],
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+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 11,
+      "question": "From your current viewpoint, is the table to the left or right of the plant?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        20,
+        83
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+      "metadata": {
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+        "object_A_category": "plant",
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+        "object_B_id": 83,
+        "object_B_category": "table",
+        "object_B_position": [
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+          5.998099327087402
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 52,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) utilityroom/toolroom (B) lounge (C) stairs",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
+        "lounge",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2"
+        ],
+        "correct_answer_room": "0_1",
+        "all_options": [
+          "utilityroom/toolroom",
+          "lounge",
+          "stairs"
+        ],
+        "context_rooms": "hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the hallway on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "bedroom",
+        "landmark_room": "hallway",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bedroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 73,
+    "question": "Along your path, did you see the table before or after the plant?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      20,
+      83
+    ],
+    "metadata": {
+      "object_A_id": 20,
+      "object_A_category": "plant",
+      "object_A_timestep": 0,
+      "object_B_id": 83,
+      "object_B_category": "table",
+      "object_B_timestep": 7,
+      "time_gap": 7,
+      "asked_first_object_id": 83,
+      "asked_second_object_id": 20
+    }
+  }
+}

train/001106/meta.json

@@ -0,0 +1,226 @@
+{
+  "episode_id": 1106,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the hall and take a right. Take a right into the bathroom and wait there. ', instruction_tokens=[2584, 780, 2389, 1121, 119, 2352, 73, 1968, 15, 2352, 73, 1968, 1264, 2389, 242, 119, 2579, 2395, 15])",
+  "instruction_text": "Walk down the hall and take a right. Take a right into the bathroom and wait there. ",
+  "num_steps": 56,
+  "total_unique_objects": 431,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "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": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        575
+      ],
+      "metadata": {
+        "probe_object_id": 575,
+        "probe_category": "column",
+        "probe_room": "porch/terrace/deck",
+        "probe_region_id": "0_15",
+        "first_seen_timestep": 1,
+        "best_view_timestep": 1,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          6.445959568023682
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+        "object_pixel_count": 101,
+        "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 plant before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        502,
+        859
+      ],
+      "metadata": {
+        "object_A_id": 502,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 859,
+        "object_B_category": "plant",
+        "object_B_timestep": 44,
+        "time_gap": 44,
+        "asked_first_object_id": 859,
+        "asked_second_object_id": 502
+      }
+    },
+    {
+      "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) dining room (B) stairs (C) hallway",
+      "answer": "C",
+      "options": [
+        "dining room",
+        "stairs",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "dining room",
+          "stairs",
+          "hallway"
+        ],
+        "query_timestep_internal": 41,
+        "rooms_visited": [
+          "bathroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
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+      ],
+      "probe_objects": [
+        508,
+        540
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+        "object_A_category": "sofa",
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+        "object_B_category": "curtain",
+        "object_B_position": [
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+          1.4335498809814453,
+          7.329500198364258
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+        "spatial_relation": "left",
+        "agent_position": [
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+          2.1922199726104736
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+          -0.7366501092910767,
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+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 51,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) living room (B) bedroom (C) dining room",
+      "answer": "C",
+      "options": [
+        "living room",
+        "bedroom",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_16",
+          "0_18",
+          "0_20"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "living room",
+          "bedroom",
+          "dining room"
+        ],
+        "context_rooms": "office, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "hallway",
+        "landmark_room": "living room",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 55,
+    "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": [
+      502,
+      859
+    ],
+    "metadata": {
+      "object_A_id": 502,
+      "object_A_category": "curtain",
+      "object_A_timestep": 0,
+      "object_B_id": 859,
+      "object_B_category": "plant",
+      "object_B_timestep": 44,
+      "time_gap": 44,
+      "asked_first_object_id": 859,
+      "asked_second_object_id": 502
+    }
+  }
+}

train/001157/meta.json

@@ -0,0 +1,200 @@
+{
+  "episode_id": 1157,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/7y3sRwLe3Va/7y3sRwLe3Va.glb",
+  "instruction": "InstructionData(instruction_text='Walk into the room, and keep heading down the hall until you reach the end. Then, make a sharp left and keep going forward until you reach the door on your right at the end of the hallway. ', instruction_tokens=[2584, 1264, 2389, 1994, 119, 1295, 1166, 780, 2389, 1121, 2524, 2703, 1920, 2389, 851, 15, 2394, 1446, 73, 2091, 1360, 119, 1295, 1071, 993, 2524, 2703, 1920, 2389, 757, 1613, 2706, 1968, 178, 2389, 851, 1605, 2389, 1126, 15])",
+  "instruction_text": "Walk into the room, and keep heading down the hall until you reach the end. Then, make a sharp left and keep going forward until you reach the door on your right at the end of the hallway. ",
+  "num_steps": 73,
+  "total_unique_objects": 320,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 72,
+      "question": "Recall your earlier path. When you passed by the picture in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        493
+      ],
+      "metadata": {
+        "probe_object_id": 493,
+        "probe_category": "picture",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_23",
+        "first_seen_timestep": 32,
+        "best_view_timestep": 32,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          0.5402979850769043,
+          4.649789810180664,
+          2.1011099815368652
+        ],
+        "agent_position_when_seen": [
+          -8.185364723205566,
+          -2.6481590270996094,
+          5.311920642852783
+        ],
+        "pixel_centroid_x": 218.20560747663552,
+        "normalized_position_x": 0.704731308411215,
+        "object_pixel_count": 107,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 73
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 72,
+      "question": "Along your path, did you see the stairs before or after the appliances?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        171,
+        365
+      ],
+      "metadata": {
+        "object_A_id": 171,
+        "object_A_category": "stairs",
+        "object_A_timestep": 2,
+        "object_B_id": 365,
+        "object_B_category": "appliances",
+        "object_B_timestep": 5,
+        "time_gap": 3,
+        "asked_first_object_id": 171,
+        "asked_second_object_id": 365
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 37,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) tv (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "tv",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "tv",
+          "laundryroom/mudroom"
+        ],
+        "query_timestep_internal": 37,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "question": "From your current viewpoint, is the beam to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        194,
+        30
+      ],
+      "metadata": {
+        "object_A_id": 194,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -1.9943699836730957,
+          0.45142579078674316,
+          2.3689496517181396
+        ],
+        "object_B_id": 30,
+        "object_B_category": "beam",
+        "object_B_position": [
+          -2.3206801414489746,
+          -0.4407479763031006,
+          2.008009910583496
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
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+          -2.6481590270996094,
+          5.311920642852783
+        ],
+        "agent_rotation": [
+          -0.9984543323516846,
+          0.0,
+          0.05557940900325775,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 10,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) bedroom (B) entryway/foyer/lobby (C) garage",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "entryway/foyer/lobby",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_30",
+        "adjacent_rooms": [
+          "2_24",
+          "2_27",
+          "2_29",
+          "2_31",
+          "2_32",
+          "2_34",
+          "2_35"
+        ],
+        "correct_answer_room": "2_32",
+        "all_options": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "garage"
+        ],
+        "context_rooms": "hallway, closet"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 30,
+    "question": "Based on your exploration and knowledge of the environment, which area is the tv you see now directly connected to? (A) stairs (B) closet (C) bathroom",
+    "answer": "C",
+    "options": [
+      "stairs",
+      "closet",
+      "bathroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_2",
+      "adjacent_rooms": [
+        "0_0",
+        "0_1",
+        "0_3"
+      ],
+      "correct_answer_room": "0_1",
+      "all_options": [
+        "stairs",
+        "closet",
+        "bathroom"
+      ],
+      "context_rooms": "other room, hallway"
+    }
+  }
+}

train/001220/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 1220,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='turn left. walk down the stairs. walk straight and go and through the double doors. turn right and go past the chairs and table. go to walkway. ', instruction_tokens=[2494, 1360, 15, 2584, 780, 2389, 2222, 15, 2584, 2288, 119, 1067, 119, 2418, 2389, 775, 762, 15, 2494, 1968, 119, 1067, 1728, 2389, 458, 119, 2342, 15, 1067, 2438, 2592, 15])",
+  "instruction_text": "turn left. walk down the stairs. walk straight and go and through the double doors. turn right and go past the chairs and table. go to walkway. ",
+  "num_steps": 89,
+  "total_unique_objects": 153,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 88,
+      "question": "Recall your earlier path. When you passed by the mirror in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        681
+      ],
+      "metadata": {
+        "probe_object_id": 681,
+        "probe_category": "mirror",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 13,
+        "best_view_timestep": 13,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          2.5093300342559814,
+          5.741189479827881,
+          3.101860523223877
+        ],
+        "agent_position_when_seen": [
+          3.2408108711242676,
+          1.7344685792922974,
+          -6.713008403778076
+        ],
+        "pixel_centroid_x": 3.119047619047619,
+        "normalized_position_x": -0.9756324404761905,
+        "object_pixel_count": 714,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 89
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 88,
+      "question": "Along your path, did you see the sofa before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        70,
+        84
+      ],
+      "metadata": {
+        "object_A_id": 70,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 84,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 70,
+        "asked_second_object_id": 84
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 63,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) balcony (C) toilet",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "balcony",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "hallway",
+          "balcony",
+          "toilet"
+        ],
+        "query_timestep_internal": 63,
+        "rooms_visited": [
+          "balcony",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the bed to the left or right of the objects?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        675,
+        679
+      ],
+      "metadata": {
+        "object_A_id": 675,
+        "object_A_category": "objects",
+        "object_A_position": [
+          -4.160029888153076,
+          4.945519924163818,
+          0.6758418083190918
+        ],
+        "object_B_id": 679,
+        "object_B_category": "bed",
+        "object_B_position": [
+          -1.605679988861084,
+          4.681479454040527,
+          1.2386102676391602
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          4.738255977630615,
+          2.491450309753418,
+          -6.800515651702881
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+        "agent_rotation": [
+          0.6861715316772461,
+          0.0,
+          0.7274398803710938,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 38,
+      "question": "Based on your exploration and knowledge of the environment, which area is the bedroom you see now directly connected to? (A) junk (B) bathroom (C) office",
+      "answer": "B",
+      "options": [
+        "junk",
+        "bathroom",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "2_28",
+        "adjacent_rooms": [
+          "2_27",
+          "2_29",
+          "2_30"
+        ],
+        "correct_answer_room": "2_29",
+        "all_options": [
+          "junk",
+          "bathroom",
+          "office"
+        ],
+        "context_rooms": "bedroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 43,
+      "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": 43,
+        "current_room": "entryway/foyer/lobby",
+        "landmark_room": "stairs",
+        "final_room": "balcony",
+        "remaining_rooms": [
+          "entryway/foyer/lobby",
+          "balcony"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "visited_but_not_ahead",
+        "passed_rooms": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 2,
+    "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": 2,
+      "current_room": "bedroom",
+      "landmark_room": "entryway/foyer/lobby",
+      "final_room": "balcony",
+      "remaining_rooms": [
+        "bedroom",
+        "stairs",
+        "entryway/foyer/lobby",
+        "balcony"
+      ],
+      "all_rooms_in_trajectory": [
+        "balcony",
+        "bedroom",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "bedroom"
+      ]
+    }
+  }
+}

train/001256/meta.json

@@ -0,0 +1,58 @@
+{
+  "episode_id": 1256,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Walk along the patio past the purple chairs along the glass barrier wall. Continue towards the open door at the end of the wall that leads inside. ', instruction_tokens=[2584, 108, 2389, 1737, 1728, 2389, 1891, 458, 108, 2389, 1057, 227, 2593, 15, 569, 2452, 2389, 1625, 757, 178, 2389, 851, 1605, 2389, 2593, 2388, 1350, 1249, 15])",
+  "instruction_text": "Walk along the patio past the purple chairs along the glass barrier wall. Continue towards the open door at the end of the wall that leads inside. ",
+  "num_steps": 25,
+  "total_unique_objects": 0,
+  "mindcraft_queries": [
+    {
+      "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) porch/terrace/deck (B) kitchen (C) hallway",
+      "answer": "C",
+      "options": [
+        "porch/terrace/deck",
+        "kitchen",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "porch/terrace/deck",
+          "kitchen",
+          "hallway"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.1_SelfLocalization",
+    "query_timestep": 0,
+    "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) closet (C) entryway/foyer/lobby",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "closet",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "hallway",
+      "all_options": [
+        "hallway",
+        "closet",
+        "entryway/foyer/lobby"
+      ],
+      "query_timestep_internal": 0,
+      "rooms_visited": [
+        "hallway"
+      ]
+    }
+  }
+}

train/001330/meta.json

@@ -0,0 +1,194 @@
+{
+  "episode_id": 1330,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/e9zR4mvMWw7/e9zR4mvMWw7.glb",
+  "instruction": "InstructionData(instruction_text='Go out the door, turn hard left.turn right and go into bedroom. ', instruction_tokens=[1067, 1658, 2389, 757, 2494, 1152, 1360, 15, 2494, 1968, 119, 1067, 1264, 273, 15])",
+  "instruction_text": "Go out the door, turn hard left.turn right and go into bedroom. ",
+  "num_steps": 43,
+  "total_unique_objects": 141,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 42,
+      "question": "Recall your earlier path. When you passed by the chair in the office, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        115
+      ],
+      "metadata": {
+        "probe_object_id": 115,
+        "probe_category": "chair",
+        "probe_room": "office",
+        "probe_region_id": "1_5",
+        "first_seen_timestep": 13,
+        "best_view_timestep": 16,
+        "num_sightings": 5,
+        "spatial_relation": "right",
+        "object_position": [
+          12.242300033569336,
+          0.5868005752563477,
+          5.390799522399902
+        ],
+        "agent_position_when_seen": [
+          10.396424293518066,
+          2.8866939544677734,
+          -0.19301645457744598
+        ],
+        "pixel_centroid_x": 205.00577557755776,
+        "normalized_position_x": 0.60160762169967,
+        "object_pixel_count": 1212,
+        "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 tv_monitor before or after the shelving?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        48,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 48,
+        "object_A_category": "shelving",
+        "object_A_timestep": 3,
+        "object_B_id": 7,
+        "object_B_category": "tv_monitor",
+        "object_B_timestep": 13,
+        "time_gap": 10,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 48
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) bedroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "living room",
+        "bedroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "living room",
+          "bedroom",
+          "stairs"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 38,
+      "question": "From your current viewpoint, is the table in front of or behind the picture?",
+      "answer": "in front of",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        359,
+        377
+      ],
+      "metadata": {
+        "object_A_id": 359,
+        "object_A_category": "picture",
+        "object_A_position": [
+          13.481300354003906,
+          4.250689506530762,
+          5.381140232086182
+        ],
+        "object_B_id": 377,
+        "object_B_category": "table",
+        "object_B_position": [
+          13.499500274658203,
+          3.1243300437927246,
+          5.279869556427002
+        ],
+        "spatial_relation": "in front of",
+        "agent_position": [
+          11.790401458740234,
+          2.8866939544677734,
+          -2.9014265537261963
+        ],
+        "agent_rotation": [
+          0.838699460029602,
+          0.0,
+          -0.5445945858955383,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 14,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) lounge (B) hallway (C) kitchen",
+      "answer": "A",
+      "options": [
+        "lounge",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_1",
+        "adjacent_rooms": [
+          "0_0"
+        ],
+        "correct_answer_room": "0_0",
+        "all_options": [
+          "lounge",
+          "hallway",
+          "kitchen"
+        ],
+        "context_rooms": ""
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 42,
+    "question": "Along your path, did you see the tv_monitor before or after the shelving?",
+    "answer": "after",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      48,
+      7
+    ],
+    "metadata": {
+      "object_A_id": 48,
+      "object_A_category": "shelving",
+      "object_A_timestep": 3,
+      "object_B_id": 7,
+      "object_B_category": "tv_monitor",
+      "object_B_timestep": 13,
+      "time_gap": 10,
+      "asked_first_object_id": 7,
+      "asked_second_object_id": 48
+    }
+  }
+}

train/001368/meta.json

@@ -0,0 +1,216 @@
+{
+  "episode_id": 1368,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/VLzqgDo317F/VLzqgDo317F.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the open doors with golden decorations. Walk through the next room passed the ceiling lamp towards the grandfather clock up against the wall. Walk through the door to the left of the clock and into the next room that has glass chandeliers and wrap around Victorian couches. ', instruction_tokens=[2584, 2418, 2389, 1625, 762, 2661, 1074, 680, 15, 2584, 2418, 2389, 1576, 1994, 1725, 2389, 447, 1325, 2452, 2389, 1087, 515, 2527, 96, 2389, 2593, 15, 2584, 2418, 2389, 757, 2438, 2389, 1360, 1605, 2389, 515, 119, 1264, 2389, 1576, 1994, 2388, 1156, 1057, 466, 119, 2688, 159, 2570, 595, 15])",
+  "instruction_text": "Walk through the open doors with golden decorations. Walk through the next room passed the ceiling lamp towards the grandfather clock up against the wall. Walk through the door to the left of the clock and into the next room that has glass chandeliers and wrap around Victorian couches. ",
+  "num_steps": 67,
+  "total_unique_objects": 484,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 66,
+      "question": "Recall your earlier path. When you passed by the beam in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        497
+      ],
+      "metadata": {
+        "probe_object_id": 497,
+        "probe_category": "beam",
+        "probe_room": "hallway",
+        "probe_region_id": "1_14",
+        "first_seen_timestep": 33,
+        "best_view_timestep": 34,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
+          -0.013058900833129883,
+          6.025259971618652,
+          5.572859764099121
+        ],
+        "agent_position_when_seen": [
+          -0.6261018514633179,
+          -2.8157927989959717,
+          9.280099868774414
+        ],
+        "pixel_centroid_x": 24.375838926174495,
+        "normalized_position_x": -0.8095637583892618,
+        "object_pixel_count": 149,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 67
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 66,
+      "question": "Along your path, did you see the curtain before or after the curtain?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        3,
+        60
+      ],
+      "metadata": {
+        "object_A_id": 3,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 60,
+        "object_B_category": "curtain",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 3,
+        "asked_second_object_id": 60
+      }
+    },
+    {
+      "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) hallway (B) entryway/foyer/lobby (C) stairs",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "entryway/foyer/lobby",
+        "all_options": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "query_timestep_internal": 50,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "meetingroom/conferenceroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 58,
+      "question": "From your current viewpoint, is the curtain to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        347,
+        330
+      ],
+      "metadata": {
+        "object_A_id": 347,
+        "object_A_category": "sofa",
+        "object_A_position": [
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+          -2.57824969291687,
+          2.603729724884033
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+        "object_B_id": 330,
+        "object_B_category": "curtain",
+        "object_B_position": [
+          12.626399993896484,
+          -0.9300569891929626,
+          1.7070798873901367
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+        "spatial_relation": "left",
+        "agent_position": [
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+          -2.961726188659668,
+          7.8151397705078125
+        ],
+        "agent_rotation": [
+          -0.7507444620132446,
+          0.0,
+          0.6605926752090454,
+          0.0
+        ]
+      }
+    },
+    {
+      "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) hallway (B) meetingroom/conferenceroom (C) junk",
+      "answer": "B",
+      "options": [
+        "hallway",
+        "meetingroom/conferenceroom",
+        "junk"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_13",
+          "0_16",
+          "0_17",
+          "0_18",
+          "0_4",
+          "0_6",
+          "0_7",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_9",
+        "all_options": [
+          "hallway",
+          "meetingroom/conferenceroom",
+          "junk"
+        ],
+        "context_rooms": "stairs, entryway/foyer/lobby"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 66,
+    "question": "Recall your earlier path. When you passed by the picture in the meetingroom/conferenceroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      388
+    ],
+    "metadata": {
+      "probe_object_id": 388,
+      "probe_category": "picture",
+      "probe_room": "meetingroom/conferenceroom",
+      "probe_region_id": "0_9",
+      "first_seen_timestep": 2,
+      "best_view_timestep": 3,
+      "num_sightings": 2,
+      "spatial_relation": "left",
+      "object_position": [
+        -12.999300003051758,
+        -0.7955894470214844,
+        6.361279487609863
+      ],
+      "agent_position_when_seen": [
+        -4.796030044555664,
+        -2.961726188659668,
+        10.875100135803223
+      ],
+      "pixel_centroid_x": 47.47019867549669,
+      "normalized_position_x": -0.6291390728476821,
+      "object_pixel_count": 151,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 67
+    }
+  }
+}

train/001372/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 1372,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ac26ZMwG7aT/ac26ZMwG7aT.glb",
+  "instruction": "InstructionData(instruction_text='exit storage room to adjacent storage room, turn right into hall, continue slight right down hallway, at end of hall turn left entering kitchen, stop at counter on right. ', instruction_tokens=[888, 2281, 1994, 2438, 88, 2281, 1994, 2494, 1968, 1264, 1121, 569, 2162, 1968, 780, 1126, 178, 851, 1605, 1121, 2494, 1360, 863, 1306, 2278, 178, 598, 1613, 1968, 15])",
+  "instruction_text": "exit storage room to adjacent storage room, turn right into hall, continue slight right down hallway, at end of hall turn left entering kitchen, stop at counter on right. ",
+  "num_steps": 90,
+  "total_unique_objects": 494,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 89,
+      "question": "Recall your earlier path. When you passed by the stairs in the utilityroom/toolroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        144
+      ],
+      "metadata": {
+        "probe_object_id": 144,
+        "probe_category": "stairs",
+        "probe_room": "utilityroom/toolroom",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 7,
+        "spatial_relation": "right",
+        "object_position": [
+          -15.467399597167969,
+          0.5609748959541321,
+          1.2420399188995361
+        ],
+        "agent_position_when_seen": [
+          -15.216699600219727,
+          -0.06077800691127777,
+          -0.2631880044937134
+        ],
+        "pixel_centroid_x": 177.51505681818182,
+        "normalized_position_x": 0.38683638139204546,
+        "object_pixel_count": 14080,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 90
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 89,
+      "question": "Along your path, did you see the objects before or after the cabinet?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        129,
+        213
+      ],
+      "metadata": {
+        "object_A_id": 129,
+        "object_A_category": "objects",
+        "object_A_timestep": 0,
+        "object_B_id": 213,
+        "object_B_category": "cabinet",
+        "object_B_timestep": 6,
+        "time_gap": 6,
+        "asked_first_object_id": 129,
+        "asked_second_object_id": 213
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 0,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) utilityroom/toolroom (B) living room (C) closet",
+      "answer": "A",
+      "options": [
+        "utilityroom/toolroom",
+        "living room",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "utilityroom/toolroom",
+        "all_options": [
+          "utilityroom/toolroom",
+          "living room",
+          "closet"
+        ],
+        "query_timestep_internal": 0,
+        "rooms_visited": [
+          "hallway",
+          "utilityroom/toolroom"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 1,
+      "question": "From your current viewpoint, is the objects to the left or right of the stairs?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        144,
+        129
+      ],
+      "metadata": {
+        "object_A_id": 144,
+        "object_A_category": "stairs",
+        "object_A_position": [
+          -15.467399597167969,
+          0.5609748959541321,
+          1.2420399188995361
+        ],
+        "object_B_id": 129,
+        "object_B_category": "objects",
+        "object_B_position": [
+          -15.653499603271484,
+          0.6107779741287231,
+          0.496163010597229
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
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+          -0.06077800691127777,
+          -0.2631880044937134
+        ],
+        "agent_rotation": [
+          -0.4182407259941101,
+          0.0,
+          -0.9083362817764282,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 82,
+      "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) bathroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
+          "0_12",
+          "0_15",
+          "0_16",
+          "0_18",
+          "0_19",
+          "0_20"
+        ],
+        "correct_answer_room": "0_18",
+        "all_options": [
+          "utilityroom/toolroom",
+          "bathroom",
+          "kitchen"
+        ],
+        "context_rooms": "bedroom, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 43,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 43,
+        "current_room": "utilityroom/toolroom",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "utilityroom/toolroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "utilityroom/toolroom"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "utilityroom/toolroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 89,
+    "question": "Along your path, did you see the objects before or after the cabinet?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      129,
+      213
+    ],
+    "metadata": {
+      "object_A_id": 129,
+      "object_A_category": "objects",
+      "object_A_timestep": 0,
+      "object_B_id": 213,
+      "object_B_category": "cabinet",
+      "object_B_timestep": 6,
+      "time_gap": 6,
+      "asked_first_object_id": 129,
+      "asked_second_object_id": 213
+    }
+  }
+}

train/001443/meta.json

@@ -0,0 +1,231 @@
+{
+  "episode_id": 1443,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/e9zR4mvMWw7/e9zR4mvMWw7.glb",
+  "instruction": "InstructionData(instruction_text='Turn right and walk towards the sofa. Turn left and exit the room and wait there. ', instruction_tokens=[2494, 1968, 119, 2584, 2452, 2389, 2182, 15, 2494, 1360, 119, 888, 2389, 1994, 119, 2579, 2395, 15])",
+  "instruction_text": "Turn right and walk towards the sofa. Turn left and exit the room and wait there. ",
+  "num_steps": 51,
+  "total_unique_objects": 229,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 50,
+      "question": "Recall your earlier path. When you passed by the picture in the living room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        65
+      ],
+      "metadata": {
+        "probe_object_id": 65,
+        "probe_category": "picture",
+        "probe_room": "living room",
+        "probe_region_id": "1_3",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 42,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          16.05769920349121,
+          1.5347094535827637,
+          4.428509712219238
+        ],
+        "agent_position_when_seen": [
+          16.414094924926758,
+          0.08669400215148926,
+          1.375239372253418
+        ],
+        "pixel_centroid_x": 98.72619047619048,
+        "normalized_position_x": -0.22870163690476186,
+        "object_pixel_count": 168,
+        "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  before or after the sofa?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        24,
+        53
+      ],
+      "metadata": {
+        "object_A_id": 24,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 53,
+        "object_B_category": "sofa",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 24,
+        "asked_second_object_id": 53
+      }
+    },
+    {
+      "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) garage (B) familyroom/lounge (C) dining room",
+      "answer": "C",
+      "options": [
+        "garage",
+        "familyroom/lounge",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "dining room",
+        "all_options": [
+          "garage",
+          "familyroom/lounge",
+          "dining room"
+        ],
+        "query_timestep_internal": 29,
+        "rooms_visited": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 34,
+      "question": "From your current viewpoint, is the picture to the left or right of the lighting?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        12,
+        17
+      ],
+      "metadata": {
+        "object_A_id": 12,
+        "object_A_category": "lighting",
+        "object_A_position": [
+          16.85260009765625,
+          -1.8845499753952026,
+          1.0078099966049194
+        ],
+        "object_B_id": 17,
+        "object_B_category": "picture",
+        "object_B_position": [
+          20.73819923400879,
+          -1.2553199529647827,
+          1.3116999864578247
+        ],
+        "spatial_relation": "right",
+        "agent_position": [
+          15.590319633483887,
+          0.08669400215148926,
+          2.301704168319702
+        ],
+        "agent_rotation": [
+          -0.9519945383071899,
+          0.0,
+          0.30611512064933777,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 17,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) bathroom (B) office (C) garage",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "office",
+        "garage"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_3",
+        "adjacent_rooms": [
+          "1_4",
+          "1_6",
+          "1_7",
+          "1_8"
+        ],
+        "correct_answer_room": "1_4",
+        "all_options": [
+          "bathroom",
+          "office",
+          "garage"
+        ],
+        "context_rooms": "dining room, porch/terrace/deck"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "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": 6,
+        "current_room": "dining room",
+        "landmark_room": "living room",
+        "final_room": "porch/terrace/deck",
+        "remaining_rooms": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "all_rooms_in_trajectory": [
+          "dining room",
+          "living room",
+          "porch/terrace/deck"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "dining room"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 31,
+    "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) kitchen (B) living room (C) dining room",
+    "answer": "C",
+    "options": [
+      "kitchen",
+      "living room",
+      "dining room"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "1_11",
+      "adjacent_rooms": [
+        "1_10",
+        "1_6",
+        "1_9"
+      ],
+      "correct_answer_room": "1_6",
+      "all_options": [
+        "kitchen",
+        "living room",
+        "dining room"
+      ],
+      "context_rooms": "entryway/foyer/lobby, familyroom/lounge"
+    }
+  }
+}

train/001556/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1556,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text='Walk down the stairs, and take a right. Walk straight and take the second door on your left into the dining room. Stop once you are in the dining room entry. ', instruction_tokens=[2584, 780, 2389, 2222, 119, 2352, 73, 1968, 15, 2584, 2288, 119, 2352, 2389, 2054, 757, 1613, 2706, 1360, 1264, 2389, 711, 1994, 15, 2278, 1615, 2703, 149, 1237, 2389, 711, 1994, 871, 15])",
+  "instruction_text": "Walk down the stairs, and take a right. Walk straight and take the second door on your left into the dining room. Stop once you are in the dining room entry. ",
+  "num_steps": 39,
+  "total_unique_objects": 239,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 38,
+      "question": "Recall your earlier path. When you passed by the shelving in the kitchen, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        115
+      ],
+      "metadata": {
+        "probe_object_id": 115,
+        "probe_category": "shelving",
+        "probe_room": "kitchen",
+        "probe_region_id": "0_6",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 28,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          2.509700059890747,
+          1.6410799026489258,
+          0.904634952545166
+        ],
+        "agent_position_when_seen": [
+          3.9235970973968506,
+          0.08356200158596039,
+          4.144181728363037
+        ],
+        "pixel_centroid_x": 247.06060606060606,
+        "normalized_position_x": 0.9301609848484849,
+        "object_pixel_count": 132,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 39
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 38,
+      "question": "Along your path, did you see the sofa before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        59
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "sofa",
+        "object_A_timestep": 0,
+        "object_B_id": 59,
+        "object_B_category": "picture",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 59
+      }
+    },
+    {
+      "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) kitchen (B) living room (C) balcony",
+      "answer": "A",
+      "options": [
+        "kitchen",
+        "living room",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "kitchen",
+          "living room",
+          "balcony"
+        ],
+        "query_timestep_internal": 35,
+        "rooms_visited": [
+          "hallway",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 30,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        85,
+        79
+      ],
+      "metadata": {
+        "object_A_id": 85,
+        "object_A_category": "chair",
+        "object_A_position": [
+          0.2182910144329071,
+          0.5100967884063721,
+          3.6870999336242676
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+        "object_B_id": 79,
+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          1.1030900478363037,
+          2.182300090789795
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.08356200158596039,
+          3.8731846809387207
+        ],
+        "agent_rotation": [
+          0.8780645132064819,
+          0.0,
+          0.47854238748550415,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 21,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) office (B) stairs (C) kitchen",
+      "answer": "C",
+      "options": [
+        "office",
+        "stairs",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_14",
+        "adjacent_rooms": [
+          "0_12",
+          "0_25",
+          "0_4",
+          "0_5",
+          "0_6"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "office",
+          "stairs",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, junk"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 16,
+      "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": 16,
+        "current_room": "stairs",
+        "landmark_room": "tv",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "stairs",
+          "hallway",
+          "kitchen",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 19,
+    "question": "You are currently in the stairs, and you can see the closet, hallway. Based on your understanding of the environment layout, which other area is the stairs directly connected to? (A) entryway/foyer/lobby (B) living room (C) bedroom",
+    "answer": "C",
+    "options": [
+      "entryway/foyer/lobby",
+      "living room",
+      "bedroom"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_24",
+      "adjacent_rooms": [
+        "0_11",
+        "0_12",
+        "0_15",
+        "0_6",
+        "0_7"
+      ],
+      "correct_answer_room": "0_7",
+      "all_options": [
+        "entryway/foyer/lobby",
+        "living room",
+        "bedroom"
+      ],
+      "context_rooms": "closet, hallway"
+    }
+  }
+}

train/001568/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 1568,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/V2XKFyX4ASd/V2XKFyX4ASd.glb",
+  "instruction": "InstructionData(instruction_text='Go out of the bedroom and walk into the bedroom next to the video arcade game. In the room take a right and stop in the bathroom doorway. ', instruction_tokens=[1067, 1658, 1605, 2389, 273, 119, 2584, 1264, 2389, 273, 1576, 2438, 2389, 2571, 142, 1035, 15, 1237, 2389, 1994, 2352, 73, 1968, 119, 2278, 1237, 2389, 242, 766, 15])",
+  "instruction_text": "Go out of the bedroom and walk into the bedroom next to the video arcade game. In the room take a right and stop in the bathroom doorway. ",
+  "num_steps": 67,
+  "total_unique_objects": 131,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 66,
+      "question": "Recall your earlier path. When you passed by the furniture in the bedroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        343
+      ],
+      "metadata": {
+        "probe_object_id": 343,
+        "probe_category": "furniture",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_8",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 0,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
+          3.9035799503326416,
+          3.63316011428833,
+          0.9124069213867188
+        ],
+        "agent_position_when_seen": [
+          2.3150599002838135,
+          2.9030959606170654,
+          -6.148950099945068
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+        "pixel_centroid_x": 71.53767123287672,
+        "normalized_position_x": -0.44111194349315064,
+        "object_pixel_count": 292,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 67
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 66,
+      "question": "Along your path, did you see the bed before or after the beam?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        144,
+        158
+      ],
+      "metadata": {
+        "object_A_id": 144,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 158,
+        "object_B_category": "beam",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 144,
+        "asked_second_object_id": 158
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 64,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) living room (B) kitchen (C) bathroom",
+      "answer": "C",
+      "options": [
+        "living room",
+        "kitchen",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "living room",
+          "kitchen",
+          "bathroom"
+        ],
+        "query_timestep_internal": 64,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "rec/game"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 11,
+      "question": "From your current viewpoint, is the bed to the left or right of the lighting?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        348,
+        336
+      ],
+      "metadata": {
+        "object_A_id": 348,
+        "object_A_category": "lighting",
+        "object_A_position": [
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+          3.7958600521087646,
+          4.1765594482421875
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+        "object_B_category": "bed",
+        "object_B_position": [
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+          3.623769760131836,
+          3.1826400756835938
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+        "spatial_relation": "left",
+        "agent_position": [
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+          2.9030959606170654,
+          -4.262337684631348
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+        "agent_rotation": [
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+          0.0,
+          -0.960140585899353,
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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 bathroom you see now directly connected to? (A) bathroom (B) balcony (C) closet",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "balcony",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "1_9",
+        "adjacent_rooms": [
+          "1_10",
+          "1_6",
+          "1_8"
+        ],
+        "correct_answer_room": "1_10",
+        "all_options": [
+          "bathroom",
+          "balcony",
+          "closet"
+        ],
+        "context_rooms": "kitchen, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 12,
+      "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": 12,
+        "current_room": "rec/game",
+        "landmark_room": "bedroom",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "rec/game",
+          "bedroom",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "rec/game"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "rec/game"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 66,
+    "question": "Recall your earlier path. When you passed by the furniture in the bedroom, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      343
+    ],
+    "metadata": {
+      "probe_object_id": 343,
+      "probe_category": "furniture",
+      "probe_room": "bedroom",
+      "probe_region_id": "1_8",
+      "first_seen_timestep": 0,
+      "best_view_timestep": 0,
+      "num_sightings": 1,
+      "spatial_relation": "left",
+      "object_position": [
+        3.9035799503326416,
+        3.63316011428833,
+        0.9124069213867188
+      ],
+      "agent_position_when_seen": [
+        2.3150599002838135,
+        2.9030959606170654,
+        -6.148950099945068
+      ],
+      "pixel_centroid_x": 71.53767123287672,
+      "normalized_position_x": -0.44111194349315064,
+      "object_pixel_count": 292,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 67
+    }
+  }
+}

train/001606/meta.json

@@ -0,0 +1,242 @@
+{
+  "episode_id": 1606,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Walk out of the sauna and exit the massage room. In the massage room take a left. take the second left and enter the bathroom. Stop at the corner of the parttion before you reach the sink. ', instruction_tokens=[2584, 1658, 1605, 2389, 2029, 119, 888, 2389, 1472, 1994, 15, 1237, 2389, 1472, 1994, 2352, 73, 1360, 15, 2352, 2389, 2054, 1360, 119, 860, 2389, 242, 15, 2278, 178, 2389, 589, 1605, 2389, 1718, 281, 2703, 1920, 2389, 2132, 15])",
+  "instruction_text": "Walk out of the sauna and exit the massage room. In the massage room take a left. take the second left and enter the bathroom. Stop at the corner of the parttion before you reach the sink. ",
+  "num_steps": 78,
+  "total_unique_objects": 102,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 77,
+      "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        140
+      ],
+      "metadata": {
+        "probe_object_id": 140,
+        "probe_category": "stairs",
+        "probe_room": "stairs",
+        "probe_region_id": "0_10",
+        "first_seen_timestep": 11,
+        "best_view_timestep": 11,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          1.757930040359497,
+          -0.40888798236846924,
+          1.0345200300216675
+        ],
+        "agent_position_when_seen": [
+          -3.1526222229003906,
+          0.09863299131393433,
+          -0.40118634700775146
+        ],
+        "pixel_centroid_x": 218.63063063063063,
+        "normalized_position_x": 0.7080518018018018,
+        "object_pixel_count": 111,
+        "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 bed before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        169
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "bed",
+        "object_A_timestep": 0,
+        "object_B_id": 169,
+        "object_B_category": "objects",
+        "object_B_timestep": 8,
+        "time_gap": 8,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 169
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 61,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) stairs (B) workout/gym/exercise (C) other room",
+      "answer": "B",
+      "options": [
+        "stairs",
+        "workout/gym/exercise",
+        "other room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "workout/gym/exercise",
+        "all_options": [
+          "stairs",
+          "workout/gym/exercise",
+          "other room"
+        ],
+        "query_timestep_internal": 61,
+        "rooms_visited": [
+          "bathroom",
+          "hallway",
+          "spa/sauna",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 27,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7,
+        178
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "table",
+        "object_A_position": [
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+          1.2149100303649902,
+          -2.2066802978515625
+        ],
+        "object_B_id": 178,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          7.319709777832031,
+          1.4687199592590332,
+          -3.5299301147460938
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+        "spatial_relation": "right",
+        "agent_position": [
+          -1.1003613471984863,
+          0.09863299131393433,
+          -2.555055618286133
+        ],
+        "agent_rotation": [
+          0.9068264365196228,
+          0.0,
+          -0.4215041399002075,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 27,
+      "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) bathroom (B) workout/gym/exercise (C) stairs",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "workout/gym/exercise",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_12",
+        "adjacent_rooms": [
+          "0_0",
+          "0_10",
+          "0_11",
+          "0_13",
+          "0_6",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_10",
+        "all_options": [
+          "bathroom",
+          "workout/gym/exercise",
+          "stairs"
+        ],
+        "context_rooms": "spa/sauna, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 6,
+      "question": "From your current position, will you pass through the workout/gym/exercise on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 6,
+        "current_room": "spa/sauna",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "bathroom",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway",
+          "workout/gym/exercise",
+          "hallway",
+          "bathroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "hallway",
+          "spa/sauna",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 12,
+    "question": "Based on your exploration and knowledge of the environment, which area is the entryway/foyer/lobby you see now directly connected to? (A) utilityroom/toolroom (B) workout/gym/exercise (C) stairs",
+    "answer": "C",
+    "options": [
+      "utilityroom/toolroom",
+      "workout/gym/exercise",
+      "stairs"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_12",
+      "adjacent_rooms": [
+        "0_0",
+        "0_10",
+        "0_11",
+        "0_13",
+        "0_6",
+        "0_8",
+        "0_9"
+      ],
+      "correct_answer_room": "0_11",
+      "all_options": [
+        "utilityroom/toolroom",
+        "workout/gym/exercise",
+        "stairs"
+      ],
+      "context_rooms": "spa/sauna, stairs"
+    }
+  }
+}

train/001632/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 1632,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text=\"Turn left.  Walk past the chairs at the bar.  Turn right at the table and chairs and walk past the red couch.  Then you'll walk almost to the door and stop.  Wait there, inside. \", instruction_tokens=[2494, 1360, 15, 2584, 1728, 2389, 458, 178, 2389, 217, 15, 2494, 1968, 178, 2389, 2342, 119, 458, 119, 2584, 1728, 2389, 1939, 593, 15, 2394, 2703, 9, 1406, 2584, 106, 2438, 2389, 757, 119, 2278, 15, 2579, 2395, 1249, 15])",
+  "instruction_text": "Turn left.  Walk past the chairs at the bar.  Turn right at the table and chairs and walk past the red couch.  Then you'll walk almost to the door and stop.  Wait there, inside. ",
+  "num_steps": 76,
+  "total_unique_objects": 124,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 75,
+      "question": "Recall your earlier path. When you passed by the curtain in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        274
+      ],
+      "metadata": {
+        "probe_object_id": 274,
+        "probe_category": "curtain",
+        "probe_room": "hallway",
+        "probe_region_id": "0_24",
+        "first_seen_timestep": 64,
+        "best_view_timestep": 65,
+        "num_sightings": 3,
+        "spatial_relation": "right",
+        "object_position": [
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+          1.0414295196533203,
+          4.3600993156433105
+        ],
+        "agent_position_when_seen": [
+          4.638271331787109,
+          0.18044789135456085,
+          3.3320155143737793
+        ],
+        "pixel_centroid_x": 242.38255033557047,
+        "normalized_position_x": 0.8936136744966443,
+        "object_pixel_count": 149,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 76
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 75,
+      "question": "Along your path, did you see the shower before or after the table?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        249,
+        200
+      ],
+      "metadata": {
+        "object_A_id": 249,
+        "object_A_category": "table",
+        "object_A_timestep": 9,
+        "object_B_id": 200,
+        "object_B_category": "shower",
+        "object_B_timestep": 19,
+        "time_gap": 10,
+        "asked_first_object_id": 200,
+        "asked_second_object_id": 249
+      }
+    },
+    {
+      "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) outdoor (B) porch/terrace/deck (C) kitchen",
+      "answer": "C",
+      "options": [
+        "outdoor",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "kitchen",
+        "all_options": [
+          "outdoor",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "query_timestep_internal": 15,
+        "rooms_visited": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 58,
+      "question": "From your current viewpoint, is the cabinet in front of or behind the chair?",
+      "answer": "in front of",
+      "options": [
+        "in front of",
+        "behind"
+      ],
+      "probe_objects": [
+        308,
+        232
+      ],
+      "metadata": {
+        "object_A_id": 308,
+        "object_A_category": "chair",
+        "object_A_position": [
+          4.3361101150512695,
+          0.528803825378418,
+          4.866640090942383
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+        "object_B_id": 232,
+        "object_B_category": "cabinet",
+        "object_B_position": [
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+          0.9811232089996338,
+          -3.7875895500183105
+        ],
+        "spatial_relation": "in front of",
+        "agent_position": [
+          5.136841773986816,
+          0.1665489375591278,
+          3.892308235168457
+        ],
+        "agent_rotation": [
+          0.9346274137496948,
+          0.0,
+          0.3556285500526428,
+          0.0
+        ]
+      }
+    },
+    {
+      "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) living room (B) entryway/foyer/lobby (C) stairs",
+      "answer": "B",
+      "options": [
+        "living room",
+        "entryway/foyer/lobby",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_17",
+          "0_20",
+          "0_21",
+          "0_23"
+        ],
+        "correct_answer_room": "0_20",
+        "all_options": [
+          "living room",
+          "entryway/foyer/lobby",
+          "stairs"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 31,
+      "question": "From your current position, will you pass through the bathroom on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 31,
+        "current_room": "stairs",
+        "landmark_room": "bathroom",
+        "final_room": "entryway/foyer/lobby",
+        "remaining_rooms": [
+          "stairs",
+          "kitchen",
+          "familyroom/lounge",
+          "entryway/foyer/lobby"
+        ],
+        "all_rooms_in_trajectory": [
+          "entryway/foyer/lobby",
+          "familyroom/lounge",
+          "kitchen",
+          "stairs"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "kitchen",
+          "stairs"
+        ]
+      }
+    }
+  ],
+  "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) stairs (B) bedroom (C) hallway",
+    "answer": "A",
+    "options": [
+      "stairs",
+      "bedroom",
+      "hallway"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "stairs",
+      "all_options": [
+        "stairs",
+        "bedroom",
+        "hallway"
+      ],
+      "query_timestep_internal": 29,
+      "rooms_visited": [
+        "entryway/foyer/lobby",
+        "familyroom/lounge",
+        "kitchen",
+        "stairs"
+      ]
+    }
+  }
+}

train/001639/meta.json

@@ -0,0 +1,225 @@
+{
+  "episode_id": 1639,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/SN83YJsR3w2/SN83YJsR3w2.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight off of the balcony and into the hallway, and stop in the middle of the floor between the bedroom door and the balcony doors. ', instruction_tokens=[2584, 2288, 1606, 1605, 2389, 203, 119, 1264, 2389, 1126, 119, 2278, 1237, 2389, 1506, 1605, 2389, 959, 294, 2389, 273, 757, 119, 2389, 203, 762, 15])",
+  "instruction_text": "Walk straight off of the balcony and into the hallway, and stop in the middle of the floor between the bedroom door and the balcony doors. ",
+  "num_steps": 26,
+  "total_unique_objects": 221,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 25,
+      "question": "Recall your earlier path. When you passed by the cushion in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        672
+      ],
+      "metadata": {
+        "probe_object_id": 672,
+        "probe_category": "cushion",
+        "probe_room": "bedroom",
+        "probe_region_id": "2_27",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 13,
+        "num_sightings": 12,
+        "spatial_relation": "right",
+        "object_position": [
+          -1.6707500219345093,
+          4.6879401206970215,
+          0.7390270233154297
+        ],
+        "agent_position_when_seen": [
+          4.171806335449219,
+          3.8914499282836914,
+          -3.138108968734741
+        ],
+        "pixel_centroid_x": 180.13142857142856,
+        "normalized_position_x": 0.4072767857142856,
+        "object_pixel_count": 175,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 26
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 25,
+      "question": "Along your path, did you see the chair before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        14,
+        255
+      ],
+      "metadata": {
+        "object_A_id": 14,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 255,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 255,
+        "asked_second_object_id": 14
+      }
+    },
+    {
+      "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) office (B) bedroom (C) balcony",
+      "answer": "B",
+      "options": [
+        "office",
+        "bedroom",
+        "balcony"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "office",
+          "bedroom",
+          "balcony"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        505,
+        1092
+      ],
+      "metadata": {
+        "object_A_id": 505,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          -0.001637578010559082,
+          0.5012019872665405,
+          -1.4570200443267822
+        ],
+        "object_B_id": 1092,
+        "object_B_category": "cabinet",
+        "object_B_position": [
+          3.779670000076294,
+          5.076069355010986,
+          4.633320331573486
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
+          6.404620170593262,
+          3.8914499282836914,
+          -3.118769884109497
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+        "agent_rotation": [
+          -0.4656839668750763,
+          0.0,
+          -0.884951114654541,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 18,
+      "question": "Based on your exploration and knowledge of the environment, which area is the living room you see now directly connected to? (A) hallway (B) kitchen (C) laundryroom/mudroom",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_3",
+        "adjacent_rooms": [
+          "0_1",
+          "0_2"
+        ],
+        "correct_answer_room": "0_2",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "lounge"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 3,
+      "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": 3,
+        "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": "L1.2_TemporalRelationRecall",
+    "query_timestep": 25,
+    "question": "Along your path, did you see the  before or after the chair?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      14,
+      255
+    ],
+    "metadata": {
+      "object_A_id": 14,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 255,
+      "object_B_category": "chair",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 14,
+      "asked_second_object_id": 255
+    }
+  }
+}

train/001669/meta.json

@@ -0,0 +1,84 @@
+{
+  "episode_id": 1669,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r1Q1Z4BcV1o/r1Q1Z4BcV1o.glb",
+  "instruction": "InstructionData(instruction_text='Go left outside and stop between the first and second set of tables and chairs. ', instruction_tokens=[1067, 1360, 1665, 119, 2278, 294, 2389, 946, 119, 2054, 2073, 1605, 2347, 119, 458, 15])",
+  "instruction_text": "Go left outside and stop between the first and second set of tables and chairs. ",
+  "num_steps": 68,
+  "total_unique_objects": 131,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 67,
+      "question": "Along your path, did you see the beam before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        26,
+        5
+      ],
+      "metadata": {
+        "object_A_id": 26,
+        "object_A_category": "",
+        "object_A_timestep": 8,
+        "object_B_id": 5,
+        "object_B_category": "beam",
+        "object_B_timestep": 24,
+        "time_gap": 16,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 26
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) kitchen (B) porch/terrace/deck (C) hallway",
+      "answer": "B",
+      "options": [
+        "kitchen",
+        "porch/terrace/deck",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "porch/terrace/deck",
+        "all_options": [
+          "kitchen",
+          "porch/terrace/deck",
+          "hallway"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "porch/terrace/deck"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "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) dining room (B) hallway (C) porch/terrace/deck",
+    "answer": "C",
+    "options": [
+      "dining room",
+      "hallway",
+      "porch/terrace/deck"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "correct_room": "porch/terrace/deck",
+      "all_options": [
+        "dining room",
+        "hallway",
+        "porch/terrace/deck"
+      ],
+      "query_timestep_internal": 24,
+      "rooms_visited": [
+        "porch/terrace/deck"
+      ]
+    }
+  }
+}

train/001834/meta.json

@@ -0,0 +1,243 @@
+{
+  "episode_id": 1834,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
+  "instruction": "InstructionData(instruction_text='Exit bath, to main hall. Turn 180 degrees and enter massage room slight left. stop at massage table. ', instruction_tokens=[888, 240, 2438, 1445, 1121, 15, 2494, 35, 684, 119, 860, 1472, 1994, 2162, 1360, 15, 2278, 178, 1472, 2342, 15])",
+  "instruction_text": "Exit bath, to main hall. Turn 180 degrees and enter massage room slight left. stop at massage table. ",
+  "num_steps": 66,
+  "total_unique_objects": 76,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 65,
+      "question": "Recall your earlier path. When you passed by the seating in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        541
+      ],
+      "metadata": {
+        "probe_object_id": 541,
+        "probe_category": "seating",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_27",
+        "first_seen_timestep": 4,
+        "best_view_timestep": 11,
+        "num_sightings": 12,
+        "spatial_relation": "left",
+        "object_position": [
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+          3.5357398986816406
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+        "agent_position_when_seen": [
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+          0.12697899341583252,
+          0.009897470474243164
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+        "pixel_centroid_x": 145.94920634920635,
+        "normalized_position_x": 0.1402281746031746,
+        "object_pixel_count": 315,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 66
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 65,
+      "question": "Along your path, did you see the bed before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        28,
+        524
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 524,
+        "object_B_category": "bed",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 524,
+        "asked_second_object_id": 28
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 32,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) toilet (B) bathroom (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "bathroom",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "spa/sauna",
+        "all_options": [
+          "toilet",
+          "bathroom",
+          "spa/sauna"
+        ],
+        "query_timestep_internal": 32,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 3,
+      "question": "From your current viewpoint, is the objects to the left or right of the ?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        28,
+        285
+      ],
+      "metadata": {
+        "object_A_id": 28,
+        "object_A_category": "",
+        "object_A_position": [
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+        "object_B_id": 285,
+        "object_B_category": "objects",
+        "object_B_position": [
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+          0.8296469449996948,
+          0.4636601209640503
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+        "spatial_relation": "left",
+        "agent_position": [
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+        "agent_rotation": [
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+          -0.16828349232673645,
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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 spa/sauna you see now directly connected to? (A) stairs (B) entryway/foyer/lobby (C) spa/sauna",
+      "answer": "C",
+      "options": [
+        "stairs",
+        "entryway/foyer/lobby",
+        "spa/sauna"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_27",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13"
+        ],
+        "correct_answer_room": "0_12",
+        "all_options": [
+          "stairs",
+          "entryway/foyer/lobby",
+          "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 toilet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 8,
+        "current_room": "spa/sauna",
+        "landmark_room": "toilet",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "spa/sauna",
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "spa/sauna"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 13,
+    "question": "From your current viewpoint, is the lighting to the left or right of the cabinet?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      537,
+      521
+    ],
+    "metadata": {
+      "object_A_id": 537,
+      "object_A_category": "cabinet",
+      "object_A_position": [
+        -5.011760234832764,
+        0.6483237743377686,
+        3.4939498901367188
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+      "object_B_id": 521,
+      "object_B_category": "lighting",
+      "object_B_position": [
+        -4.033959865570068,
+        2.7248597145080566,
+        2.609950542449951
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+      "spatial_relation": "right",
+      "agent_position": [
+        -1.2700457572937012,
+        0.12697899341583252,
+        0.04804879426956177
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+      "agent_rotation": [
+        -0.6795945167541504,
+        0.0,
+        -0.7335879802703857,
+        0.0
+      ]
+    }
+  }
+}

train/001854/meta.json

@@ -0,0 +1,240 @@
+{
+  "episode_id": 1854,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/kEZ7cmS4wCh/kEZ7cmS4wCh.glb",
+  "instruction": "InstructionData(instruction_text='Leave the theater and go straight passing the counter, and moving in the direction of the stairs. Take the second left past the counter and stop in he doorway to the sink. ', instruction_tokens=[1355, 2389, 2390, 119, 1067, 2288, 1727, 2389, 598, 119, 1540, 1237, 2389, 718, 1605, 2389, 2222, 15, 2352, 2389, 2054, 1360, 1728, 2389, 598, 119, 2278, 1237, 1161, 766, 2438, 2389, 2132, 15])",
+  "instruction_text": "Leave the theater and go straight passing the counter, and moving in the direction of the stairs. Take the second left past the counter and stop in he doorway to the sink. ",
+  "num_steps": 75,
+  "total_unique_objects": 322,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the railing in the stairs, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        241
+      ],
+      "metadata": {
+        "probe_object_id": 241,
+        "probe_category": "railing",
+        "probe_room": "stairs",
+        "probe_region_id": "0_13",
+        "first_seen_timestep": 9,
+        "best_view_timestep": 9,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          2.24075984954834,
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+        "agent_position_when_seen": [
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+          5.063302516937256
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+        "pixel_centroid_x": 38.81132075471698,
+        "normalized_position_x": -0.6967865566037736,
+        "object_pixel_count": 106,
+        "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 plant before or after the appliances?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        1,
+        122
+      ],
+      "metadata": {
+        "object_A_id": 1,
+        "object_A_category": "plant",
+        "object_A_timestep": 0,
+        "object_B_id": 122,
+        "object_B_category": "appliances",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 1,
+        "asked_second_object_id": 122
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 8,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) tv (B) porch/terrace/deck (C) dining room",
+      "answer": "A",
+      "options": [
+        "tv",
+        "porch/terrace/deck",
+        "dining room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "tv",
+        "all_options": [
+          "tv",
+          "porch/terrace/deck",
+          "dining room"
+        ],
+        "query_timestep_internal": 8,
+        "rooms_visited": [
+          "hallway",
+          "stairs",
+          "tv"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 13,
+      "question": "From your current viewpoint, is the cabinet to the left or right of the curtain?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        99,
+        112
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+      "metadata": {
+        "object_A_id": 99,
+        "object_A_category": "curtain",
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+        "object_B_position": [
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+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 40,
+      "question": "Based on your exploration and knowledge of the environment, which area is the stairs you see now directly connected to? (A) closet (B) porch/terrace/deck (C) kitchen",
+      "answer": "C",
+      "options": [
+        "closet",
+        "porch/terrace/deck",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_13",
+        "adjacent_rooms": [
+          "0_10",
+          "0_11",
+          "0_12",
+          "0_14",
+          "0_15",
+          "0_7"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "closet",
+          "porch/terrace/deck",
+          "kitchen"
+        ],
+        "context_rooms": "hallway, bedroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 19,
+      "question": "From your current position, will you pass through the closet on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 19,
+        "current_room": "tv",
+        "landmark_room": "closet",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "tv",
+          "hallway",
+          "stairs",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "stairs",
+          "tv"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "tv"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 13,
+    "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": 13,
+      "current_room": "tv",
+      "landmark_room": "bathroom",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "tv",
+        "hallway",
+        "stairs",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "stairs",
+        "tv"
+      ],
+      "ground_truth_path_includes_landmark": false,
+      "negative_kind": "never_visited",
+      "passed_rooms": [
+        "tv"
+      ]
+    }
+  }
+}

train/001881/meta.json

@@ -0,0 +1,237 @@
+{
+  "episode_id": 1881,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/r47D5H71a5s/r47D5H71a5s.glb",
+  "instruction": "InstructionData(instruction_text='Go forward, take a slight and then go forward a little more, take a right, go forward, take a left then take a right. ', instruction_tokens=[1067, 993, 2352, 73, 2162, 119, 2394, 1067, 993, 73, 1402, 1528, 2352, 73, 1968, 1067, 993, 2352, 73, 1360, 2394, 2352, 73, 1968, 15])",
+  "instruction_text": "Go forward, take a slight and then go forward a little more, take a right, go forward, take a left then take a right. ",
+  "num_steps": 62,
+  "total_unique_objects": 169,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 61,
+      "question": "Recall your earlier path. When you passed by the plant in the hallway, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        111
+      ],
+      "metadata": {
+        "probe_object_id": 111,
+        "probe_category": "plant",
+        "probe_room": "hallway",
+        "probe_region_id": "0_8",
+        "first_seen_timestep": 2,
+        "best_view_timestep": 2,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          1.7137501239776611,
+          1.02482008934021,
+          -2.9494094848632812
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+        "agent_position_when_seen": [
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+          0.09863299131393433,
+          -8.498109817504883
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+        "pixel_centroid_x": 226.37062937062936,
+        "normalized_position_x": 0.7685205419580419,
+        "object_pixel_count": 143,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 62
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 61,
+      "question": "Along your path, did you see the  before or after the picture?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        34,
+        64
+      ],
+      "metadata": {
+        "object_A_id": 34,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 64,
+        "object_B_category": "picture",
+        "object_B_timestep": 7,
+        "time_gap": 7,
+        "asked_first_object_id": 34,
+        "asked_second_object_id": 64
+      }
+    },
+    {
+      "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) utilityroom/toolroom (B) hallway (C) bathroom",
+      "answer": "B",
+      "options": [
+        "utilityroom/toolroom",
+        "hallway",
+        "bathroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "utilityroom/toolroom",
+          "hallway",
+          "bathroom"
+        ],
+        "query_timestep_internal": 2,
+        "rooms_visited": [
+          "hallway",
+          "spa/sauna",
+          "workout/gym/exercise"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 32,
+      "question": "From your current viewpoint, is the stairs to the left or right of the table?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        7,
+        36
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "table",
+        "object_A_position": [
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+          -2.2066802978515625
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+        "object_B_id": 36,
+        "object_B_category": "stairs",
+        "object_B_position": [
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+          0.45873403549194336,
+          0.522704005241394
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+        "spatial_relation": "right",
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+          0.09863299131393433,
+          -4.537385940551758
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+        "agent_rotation": [
+          0.40127819776535034,
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+          0.9159561991691589,
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+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 57,
+      "question": "You are currently in the spa/sauna, and you can see the spa/sauna, stairs. Based on your understanding of the environment layout, which other area is the spa/sauna directly connected to? (A) workout/gym/exercise (B) other room (C) utilityroom/toolroom",
+      "answer": "A",
+      "options": [
+        "workout/gym/exercise",
+        "other room",
+        "utilityroom/toolroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_0",
+        "adjacent_rooms": [
+          "0_1",
+          "0_10",
+          "0_12",
+          "0_14",
+          "0_15",
+          "0_2",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_7",
+        "all_options": [
+          "workout/gym/exercise",
+          "other room",
+          "utilityroom/toolroom"
+        ],
+        "context_rooms": "spa/sauna, stairs"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 4,
+      "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": 4,
+        "current_room": "hallway",
+        "landmark_room": "workout/gym/exercise",
+        "final_room": "spa/sauna",
+        "remaining_rooms": [
+          "hallway",
+          "workout/gym/exercise",
+          "hallway",
+          "spa/sauna"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "spa/sauna",
+          "workout/gym/exercise"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 33,
+    "question": "Based on your exploration and knowledge of the environment, which area is the bathroom you see now directly connected to? (A) hallway (B) workout/gym/exercise (C) entryway/foyer/lobby",
+    "answer": "A",
+    "options": [
+      "hallway",
+      "workout/gym/exercise",
+      "entryway/foyer/lobby"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_14",
+      "adjacent_rooms": [
+        "0_0",
+        "0_1",
+        "0_15",
+        "0_16"
+      ],
+      "correct_answer_room": "0_16",
+      "all_options": [
+        "hallway",
+        "workout/gym/exercise",
+        "entryway/foyer/lobby"
+      ],
+      "context_rooms": "spa/sauna, spa/sauna"
+    }
+  }
+}

train/001922/meta.json

@@ -0,0 +1,213 @@
+{
+  "episode_id": 1922,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/S9hNv5qa7GM/S9hNv5qa7GM.glb",
+  "instruction": "InstructionData(instruction_text='Go past the picture with a lady, out of the room and into the foyer.  Walk past the dining room and stop on the side of the stairs under a ceiling fan facing the back of a couch. ', instruction_tokens=[1067, 1728, 2389, 1776, 2661, 73, 1322, 1658, 1605, 2389, 1994, 119, 1264, 2389, 1005, 15, 2584, 1728, 2389, 711, 1994, 119, 2278, 1613, 2389, 2121, 1605, 2389, 2222, 2517, 73, 447, 912, 906, 2389, 190, 1605, 73, 593, 15])",
+  "instruction_text": "Go past the picture with a lady, out of the room and into the foyer.  Walk past the dining room and stop on the side of the stairs under a ceiling fan facing the back of a couch. ",
+  "num_steps": 60,
+  "total_unique_objects": 104,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 59,
+      "question": "Recall your earlier path. When you passed by the table in the bedroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        174
+      ],
+      "metadata": {
+        "probe_object_id": 174,
+        "probe_category": "table",
+        "probe_room": "bedroom",
+        "probe_region_id": "1_8",
+        "first_seen_timestep": 3,
+        "best_view_timestep": 26,
+        "num_sightings": 19,
+        "spatial_relation": "right",
+        "object_position": [
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+          3.3394298553466797,
+          0.8162369728088379
+        ],
+        "agent_position_when_seen": [
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+          0.11627800017595291,
+          -3.348970651626587
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+        "pixel_centroid_x": 217.43741165384012,
+        "normalized_position_x": 0.6987297785456259,
+        "object_pixel_count": 6367,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 60
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 59,
+      "question": "Along your path, did you see the furniture before or after the railing?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        172,
+        106
+      ],
+      "metadata": {
+        "object_A_id": 172,
+        "object_A_category": "furniture",
+        "object_A_timestep": 0,
+        "object_B_id": 106,
+        "object_B_category": "railing",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 172,
+        "asked_second_object_id": 106
+      }
+    },
+    {
+      "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) bedroom (B) hallway (C) kitchen",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bedroom",
+          "hallway",
+          "kitchen"
+        ],
+        "query_timestep_internal": 48,
+        "rooms_visited": [
+          "hallway",
+          "living room"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 25,
+      "question": "From your current viewpoint, is the table to the left or right of the picture?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        427,
+        174
+      ],
+      "metadata": {
+        "object_A_id": 427,
+        "object_A_category": "picture",
+        "object_A_position": [
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+          1.9877699613571167
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+        "object_B_id": 174,
+        "object_B_category": "table",
+        "object_B_position": [
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+          3.3394298553466797,
+          0.8162369728088379
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.11627800017595291,
+          -3.348970651626587
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+        "agent_rotation": [
+          -0.6323670744895935,
+          0.0,
+          -0.7746689319610596,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 33,
+      "question": "Based on your exploration and knowledge of the environment, which area is the familyroom/lounge you see now directly connected to? (A) bedroom (B) stairs (C) laundryroom/mudroom",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "stairs",
+        "laundryroom/mudroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_12",
+          "0_14",
+          "0_17",
+          "0_4"
+        ],
+        "correct_answer_room": "0_4",
+        "all_options": [
+          "bedroom",
+          "stairs",
+          "laundryroom/mudroom"
+        ],
+        "context_rooms": "bathroom, hallway"
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 15,
+    "question": "From your current viewpoint, is the shelving to the left or right of the bed?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      163,
+      176
+    ],
+    "metadata": {
+      "object_A_id": 163,
+      "object_A_category": "bed",
+      "object_A_position": [
+        -7.236979961395264,
+        3.2181396484375,
+        1.9670400619506836
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+      "object_B_id": 176,
+      "object_B_category": "shelving",
+      "object_B_position": [
+        -6.48298978805542,
+        3.3993897438049316,
+        0.09722590446472168
+      ],
+      "spatial_relation": "right",
+      "agent_position": [
+        -5.708188056945801,
+        0.11627800017595291,
+        -3.944658041000366
+      ],
+      "agent_rotation": [
+        -0.2877780497074127,
+        0.0,
+        -0.9576971530914307,
+        0.0
+      ]
+    }
+  }
+}

train/001949/meta.json

@@ -0,0 +1,245 @@
+{
+  "episode_id": 1949,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/gTV8FGcVJC9/gTV8FGcVJC9.glb",
+  "instruction": "InstructionData(instruction_text='Walk through the doorway, then walk into the next doorway on your left. Walk past the couch on your left, and past the stairs on your right. Walk through the hallway that is past the staircase, Walk through the first door on your left and stop immediatly after walking through. ', instruction_tokens=[2584, 2418, 2389, 766, 2394, 2584, 1264, 2389, 1576, 766, 1613, 2706, 1360, 15, 2584, 1728, 2389, 593, 1613, 2706, 1360, 119, 1728, 2389, 2222, 1613, 2706, 1968, 15, 2584, 2418, 2389, 1126, 2388, 1267, 1728, 2389, 2220, 2584, 2418, 2389, 946, 757, 1613, 2706, 1360, 119, 2278, 1235, 94, 2588, 2418, 15])",
+  "instruction_text": "Walk through the doorway, then walk into the next doorway on your left. Walk past the couch on your left, and past the stairs on your right. Walk through the hallway that is past the staircase, Walk through the first door on your left and stop immediatly after walking through. ",
+  "num_steps": 75,
+  "total_unique_objects": 743,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 74,
+      "question": "Recall your earlier path. When you passed by the picture in the other room, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        98
+      ],
+      "metadata": {
+        "probe_object_id": 98,
+        "probe_category": "picture",
+        "probe_room": "other room",
+        "probe_region_id": "0_4",
+        "first_seen_timestep": 41,
+        "best_view_timestep": 42,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -4.7394700050354,
+          -2.6055097579956055,
+          12.678600311279297
+        ],
+        "agent_position_when_seen": [
+          -2.9882123470306396,
+          7.256642818450928,
+          9.642858505249023
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+        "pixel_centroid_x": 252.0275229357798,
+        "normalized_position_x": 0.9689650229357798,
+        "object_pixel_count": 109,
+        "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 curtain before or after the table?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        614,
+        446
+      ],
+      "metadata": {
+        "object_A_id": 614,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 446,
+        "object_B_category": "table",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 614,
+        "asked_second_object_id": 446
+      }
+    },
+    {
+      "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) rec/game (B) bathroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "rec/game",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "rec/game",
+          "bathroom",
+          "stairs"
+        ],
+        "query_timestep_internal": 11,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "lounge"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 7,
+      "question": "From your current viewpoint, is the stairs to the left or right of the shelving?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        87,
+        60
+      ],
+      "metadata": {
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+        "object_A_category": "shelving",
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+        "object_B_category": "stairs",
+        "object_B_position": [
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+          -3.7886009216308594,
+          10.789198875427246
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+        "spatial_relation": "right",
+        "agent_position": [
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+          7.256642818450928,
+          10.934000015258789
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+        "agent_rotation": [
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+          0.0,
+          -0.10151170939207077,
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+        ]
+      }
+    },
+    {
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+      "query_timestep": 31,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) living room (B) dining room (C) bedroom",
+      "answer": "C",
+      "options": [
+        "living room",
+        "dining room",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "3_42",
+        "adjacent_rooms": [
+          "3_41",
+          "3_43"
+        ],
+        "correct_answer_room": "3_43",
+        "all_options": [
+          "living room",
+          "dining room",
+          "bedroom"
+        ],
+        "context_rooms": "bathroom"
+      }
+    },
+    {
+      "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": "bathroom",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "bathroom",
+          "bedroom",
+          "lounge",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "hallway",
+          "lounge"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "bathroom"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 74,
+    "question": "Recall your earlier path. When you passed by the stairs in the stairs, was it on your left side or right side?",
+    "answer": "right",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      498
+    ],
+    "metadata": {
+      "probe_object_id": 498,
+      "probe_category": "stairs",
+      "probe_room": "stairs",
+      "probe_region_id": "1_15",
+      "first_seen_timestep": 31,
+      "best_view_timestep": 42,
+      "num_sightings": 8,
+      "spatial_relation": "right",
+      "object_position": [
+        -5.880259990692139,
+        -0.6660709381103516,
+        13.118099212646484
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+      "agent_position_when_seen": [
+        -2.9882123470306396,
+        7.256642818450928,
+        9.642858505249023
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+      "pixel_centroid_x": 229.96524064171123,
+      "normalized_position_x": 0.796603442513369,
+      "object_pixel_count": 374,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 75
+    }
+  }
+}

train/001988/meta.json

@@ -0,0 +1,208 @@
+{
+  "episode_id": 1988,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/759xd9YjKW5/759xd9YjKW5.glb",
+  "instruction": "InstructionData(instruction_text='Walk forward onto the stone floor and follow the hallway. Stop next to the chair on your left at the entrance to the living room. ', instruction_tokens=[2584, 993, 1620, 2389, 2273, 959, 119, 972, 2389, 1126, 15, 2278, 1576, 2438, 2389, 457, 1613, 2706, 1360, 178, 2389, 867, 2438, 2389, 1404, 1994, 15])",
+  "instruction_text": "Walk forward onto the stone floor and follow the hallway. Stop next to the chair on your left at the entrance to the living room. ",
+  "num_steps": 59,
+  "total_unique_objects": 445,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 58,
+      "question": "Recall your earlier path. When you passed by the shelving in the dining room, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        109
+      ],
+      "metadata": {
+        "probe_object_id": 109,
+        "probe_category": "shelving",
+        "probe_room": "dining room",
+        "probe_region_id": "0_3",
+        "first_seen_timestep": 8,
+        "best_view_timestep": 33,
+        "num_sightings": 39,
+        "spatial_relation": "left",
+        "object_position": [
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+          1.2359304428100586,
+          13.604801177978516
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+        "agent_position_when_seen": [
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+          12.19533920288086
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+        "pixel_centroid_x": 84.59849435382685,
+        "normalized_position_x": -0.3390742628607277,
+        "object_pixel_count": 797,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 59
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 58,
+      "question": "Along your path, did you see the bed before or after the curtain?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        199,
+        63
+      ],
+      "metadata": {
+        "object_A_id": 199,
+        "object_A_category": "curtain",
+        "object_A_timestep": 5,
+        "object_B_id": 63,
+        "object_B_category": "bed",
+        "object_B_timestep": 8,
+        "time_gap": 3,
+        "asked_first_object_id": 63,
+        "asked_second_object_id": 199
+      }
+    },
+    {
+      "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) bathroom (B) workout/gym/exercise (C) hallway",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "workout/gym/exercise",
+        "hallway"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "bathroom",
+          "workout/gym/exercise",
+          "hallway"
+        ],
+        "query_timestep_internal": 34,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
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+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 58,
+      "question": "From your current viewpoint, is the table to the left or right of the cabinet?",
+      "answer": "left",
+      "options": [
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+        "right"
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+      "probe_objects": [
+        242,
+        214
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+      "metadata": {
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+        "object_A_category": "cabinet",
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+        "object_B_id": 214,
+        "object_B_category": "table",
+        "object_B_position": [
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+          0.50565505027771,
+          -3.264280080795288
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+        "spatial_relation": "left",
+        "agent_position": [
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+          0.09666500240564346,
+          8.280406951904297
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+        "agent_rotation": [
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+    },
+    {
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+      "query_timestep": 42,
+      "question": "Based on your exploration and knowledge of the environment, which area is the workout/gym/exercise you see now directly connected to? (A) living room (B) hallway (C) kitchen",
+      "answer": "C",
+      "options": [
+        "living room",
+        "hallway",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_7",
+        "adjacent_rooms": [
+          "0_6"
+        ],
+        "correct_answer_room": "0_6",
+        "all_options": [
+          "living room",
+          "hallway",
+          "kitchen"
+        ],
+        "context_rooms": ""
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.1_ObjectAttributeRecall",
+    "query_timestep": 58,
+    "question": "Recall your earlier path. When you passed by the shelving in the dining room, was it on your left side or right side?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      109
+    ],
+    "metadata": {
+      "probe_object_id": 109,
+      "probe_category": "shelving",
+      "probe_room": "dining room",
+      "probe_region_id": "0_3",
+      "first_seen_timestep": 8,
+      "best_view_timestep": 33,
+      "num_sightings": 39,
+      "spatial_relation": "left",
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+      "pixel_centroid_x": 84.59849435382685,
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+      "object_pixel_count": 797,
+      "object_visibility_confirmed": true,
+      "category_unique_in_region": true,
+      "determination_method": "pixel_position",
+      "total_trajectory_length": 59
+    }
+  }
+}

train/002206/meta.json

@@ -0,0 +1,235 @@
+{
+  "episode_id": 2206,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/mJXqzFtmKg4/mJXqzFtmKg4.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight ahead through the archway. Walk ahead and turn right through the double doors. Step forward in front of the mirror. ', instruction_tokens=[2584, 2288, 98, 2418, 2389, 147, 15, 2584, 98, 119, 2494, 1968, 2418, 2389, 775, 762, 15, 2260, 993, 1237, 1019, 1605, 2389, 1515, 15])",
+  "instruction_text": "Walk straight ahead through the archway. Walk ahead and turn right through the double doors. Step forward in front of the mirror. ",
+  "num_steps": 34,
+  "total_unique_objects": 435,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 33,
+      "question": "Recall your earlier path. When you passed by the counter in the hallway, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        44
+      ],
+      "metadata": {
+        "probe_object_id": 44,
+        "probe_category": "counter",
+        "probe_room": "hallway",
+        "probe_region_id": "0_1",
+        "first_seen_timestep": 27,
+        "best_view_timestep": 28,
+        "num_sightings": 2,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.9661121368408203,
+          -2.757479667663574
+        ],
+        "agent_position_when_seen": [
+          3.656750202178955,
+          0.003321051597595215,
+          -15.626830101013184
+        ],
+        "pixel_centroid_x": 15.070921985815604,
+        "normalized_position_x": -0.8822584219858156,
+        "object_pixel_count": 141,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 34
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 33,
+      "question": "Along your path, did you see the chair before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        5,
+        193
+      ],
+      "metadata": {
+        "object_A_id": 5,
+        "object_A_category": "chair",
+        "object_A_timestep": 0,
+        "object_B_id": 193,
+        "object_B_category": "objects",
+        "object_B_timestep": 4,
+        "time_gap": 4,
+        "asked_first_object_id": 5,
+        "asked_second_object_id": 193
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 16,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) kitchen (C) bedroom",
+      "answer": "C",
+      "options": [
+        "bathroom",
+        "kitchen",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bathroom",
+          "kitchen",
+          "bedroom"
+        ],
+        "query_timestep_internal": 16,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 22,
+      "question": "From your current viewpoint, is the bed to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        57,
+        139
+      ],
+      "metadata": {
+        "object_A_id": 57,
+        "object_A_category": "sofa",
+        "object_A_position": [
+          1.0476000308990479,
+          0.4930659532546997,
+          1.9912999868392944
+        ],
+        "object_B_id": 139,
+        "object_B_category": "bed",
+        "object_B_position": [
+          2.302030086517334,
+          0.7881627082824707,
+          7.702909469604492
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
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+          0.003321051597595215,
+          -16.348791122436523
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+        "agent_rotation": [
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+          0.0,
+          -0.9601362347602844,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 4,
+      "question": "Based on your exploration and knowledge of the environment, which area is the laundryroom/mudroom you see now directly connected to? (A) workout/gym/exercise (B) bathroom (C) kitchen",
+      "answer": "B",
+      "options": [
+        "workout/gym/exercise",
+        "bathroom",
+        "kitchen"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_6",
+        "adjacent_rooms": [
+          "0_0",
+          "0_1",
+          "0_23"
+        ],
+        "correct_answer_room": "0_23",
+        "all_options": [
+          "workout/gym/exercise",
+          "bathroom",
+          "kitchen"
+        ],
+        "context_rooms": "tv, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 1,
+      "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": 1,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 15,
+    "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) dining room (B) office (C) workout/gym/exercise",
+    "answer": "A",
+    "options": [
+      "dining room",
+      "office",
+      "workout/gym/exercise"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_1",
+      "adjacent_rooms": [
+        "0_16",
+        "0_2",
+        "0_20",
+        "0_21",
+        "0_22",
+        "0_23",
+        "0_3",
+        "0_4",
+        "0_6",
+        "0_7"
+      ],
+      "correct_answer_room": "0_22",
+      "all_options": [
+        "dining room",
+        "office",
+        "workout/gym/exercise"
+      ],
+      "context_rooms": "hallway, living room"
+    }
+  }
+}

train/002268/meta.json

@@ -0,0 +1,205 @@
+{
+  "episode_id": 2268,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/sT4fr6TAbpF/sT4fr6TAbpF.glb",
+  "instruction": "InstructionData(instruction_text='walk straight down hall into bed room. Stop between bed and desk. ', instruction_tokens=[2584, 2288, 780, 1121, 1264, 267, 1994, 15, 2278, 294, 267, 119, 692, 15])",
+  "instruction_text": "walk straight down hall into bed room. Stop between bed and desk. ",
+  "num_steps": 36,
+  "total_unique_objects": 214,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 35,
+      "question": "Recall your earlier path. When you passed by the table in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244
+      ],
+      "metadata": {
+        "probe_object_id": 244,
+        "probe_category": "table",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_12",
+        "first_seen_timestep": 0,
+        "best_view_timestep": 1,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
+          -2.0554099082946777,
+          0.47933197021484375,
+          -6.901549816131592
+        ],
+        "agent_position_when_seen": [
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+          0.05631500482559204,
+          -12.353799819946289
+        ],
+        "pixel_centroid_x": 230.57648953301128,
+        "normalized_position_x": 0.8013788244766507,
+        "object_pixel_count": 621,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 36
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 19,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) hallway (B) kitchen (C) toilet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "kitchen",
+        "toilet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "hallway",
+        "all_options": [
+          "hallway",
+          "kitchen",
+          "toilet"
+        ],
+        "query_timestep_internal": 19,
+        "rooms_visited": [
+          "bedroom",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 0,
+      "question": "From your current viewpoint, is the shower to the left or right of the table?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        244,
+        245
+      ],
+      "metadata": {
+        "object_A_id": 244,
+        "object_A_category": "table",
+        "object_A_position": [
+          -2.0554099082946777,
+          0.47933197021484375,
+          -6.901549816131592
+        ],
+        "object_B_id": 245,
+        "object_B_category": "shower",
+        "object_B_position": [
+          0.6565309762954712,
+          1.2303400039672852,
+          -8.184410095214844
+        ],
+        "spatial_relation": "left",
+        "agent_position": [
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+          0.05631500482559204,
+          -12.353799819946289
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+        "agent_rotation": [
+          -0.023183230310678482,
+          0.0,
+          0.9997312426567078,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 2,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) toilet (B) porch/terrace/deck (C) bedroom",
+      "answer": "C",
+      "options": [
+        "toilet",
+        "porch/terrace/deck",
+        "bedroom"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_19",
+        "adjacent_rooms": [
+          "0_11",
+          "0_13",
+          "0_8",
+          "0_9"
+        ],
+        "correct_answer_room": "0_8",
+        "all_options": [
+          "toilet",
+          "porch/terrace/deck",
+          "bedroom"
+        ],
+        "context_rooms": "dining room, bathroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the dining room on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "hallway",
+        "landmark_room": "dining room",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 4,
+    "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+    "answer": "yes",
+    "options": [
+      "yes",
+      "no"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_timestep_internal": 4,
+      "current_room": "hallway",
+      "landmark_room": "bedroom",
+      "final_room": "bedroom",
+      "remaining_rooms": [
+        "hallway",
+        "bedroom"
+      ],
+      "all_rooms_in_trajectory": [
+        "bedroom",
+        "hallway"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "hallway"
+      ]
+    }
+  }
+}

train/002273/meta.json

@@ -0,0 +1,229 @@
+{
+  "episode_id": 2273,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/1pXnuDYAj8r/1pXnuDYAj8r.glb",
+  "instruction": "InstructionData(instruction_text='Walk into foyer. Walk past mirror. Make left at column. Walk past office. Wait at bedroom door threshold. ', instruction_tokens=[2584, 1264, 1005, 15, 2584, 1728, 1515, 15, 1446, 1360, 178, 541, 15, 2584, 1728, 1607, 15, 2579, 178, 273, 757, 2417, 15])",
+  "instruction_text": "Walk into foyer. Walk past mirror. Make left at column. Walk past office. Wait at bedroom door threshold. ",
+  "num_steps": 60,
+  "total_unique_objects": 246,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 59,
+      "question": "Recall your earlier path. When you passed by the bathtub in the bathroom, was it on your left side or right side?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        802
+      ],
+      "metadata": {
+        "probe_object_id": 802,
+        "probe_category": "bathtub",
+        "probe_room": "bathroom",
+        "probe_region_id": "0_22",
+        "first_seen_timestep": 25,
+        "best_view_timestep": 25,
+        "num_sightings": 1,
+        "spatial_relation": "right",
+        "object_position": [
+          13.028900146484375,
+          0.26950788497924805,
+          -2.329659938812256
+        ],
+        "agent_position_when_seen": [
+          7.278559684753418,
+          0.11414599418640137,
+          0.44438254833221436
+        ],
+        "pixel_centroid_x": 214.32673267326732,
+        "normalized_position_x": 0.6744275990099009,
+        "object_pixel_count": 101,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 60
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 59,
+      "question": "Along your path, did you see the curtain before or after the ?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        92,
+        502
+      ],
+      "metadata": {
+        "object_A_id": 92,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 502,
+        "object_B_category": "curtain",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 502,
+        "asked_second_object_id": 92
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 58,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) bedroom (C) familyroom/lounge",
+      "answer": "B",
+      "options": [
+        "bathroom",
+        "bedroom",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bedroom",
+        "all_options": [
+          "bathroom",
+          "bedroom",
+          "familyroom/lounge"
+        ],
+        "query_timestep_internal": 58,
+        "rooms_visited": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 23,
+      "question": "From your current viewpoint, is the sofa to the left or right of the chair?",
+      "answer": "right",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        644,
+        626
+      ],
+      "metadata": {
+        "object_A_id": 644,
+        "object_A_category": "chair",
+        "object_A_position": [
+          10.424300193786621,
+          0.481579065322876,
+          -1.2129398584365845
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+        "object_B_id": 626,
+        "object_B_category": "sofa",
+        "object_B_position": [
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+          0.3004070520401001,
+          1.3220701217651367
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+        "spatial_relation": "right",
+        "agent_position": [
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+          0.11414599418640137,
+          0.44438254833221436
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+        "agent_rotation": [
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+          0.0,
+          0.7378700375556946,
+          0.0
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 5,
+      "question": "You are currently in the entryway/foyer/lobby, and you can see the office, hallway. Based on your understanding of the environment layout, which other area is the entryway/foyer/lobby directly connected to? (A) dining room (B) laundryroom/mudroom (C) living room",
+      "answer": "A",
+      "options": [
+        "dining room",
+        "laundryroom/mudroom",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_24",
+        "adjacent_rooms": [
+          "0_16",
+          "0_18",
+          "0_20"
+        ],
+        "correct_answer_room": "0_16",
+        "all_options": [
+          "dining room",
+          "laundryroom/mudroom",
+          "living room"
+        ],
+        "context_rooms": "office, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 15,
+      "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": 15,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "bedroom",
+        "remaining_rooms": [
+          "hallway",
+          "bedroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ],
+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 59,
+    "question": "Along your path, did you see the  before or after the curtain?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      92,
+      502
+    ],
+    "metadata": {
+      "object_A_id": 92,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 502,
+      "object_B_category": "curtain",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 92,
+      "asked_second_object_id": 502
+    }
+  }
+}

train/002284/meta.json

@@ -0,0 +1,198 @@
+{
+  "episode_id": 2284,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/ULsKaCPVFJR/ULsKaCPVFJR.glb",
+  "instruction": "InstructionData(instruction_text='Turn around then walk forward through the bathroom, past the tub and into the hallway. Turn left into the bedroom. Step into the bedroom and stop by the chair. ', instruction_tokens=[2494, 159, 2394, 2584, 993, 2418, 2389, 242, 1728, 2389, 2488, 119, 1264, 2389, 1126, 15, 2494, 1360, 1264, 2389, 273, 15, 2260, 1264, 2389, 273, 119, 2278, 404, 2389, 457, 15])",
+  "instruction_text": "Turn around then walk forward through the bathroom, past the tub and into the hallway. Turn left into the bedroom. Step into the bedroom and stop by the chair. ",
+  "num_steps": 55,
+  "total_unique_objects": 385,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 54,
+      "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": [
+        140
+      ],
+      "metadata": {
+        "probe_object_id": 140,
+        "probe_category": "bed",
+        "probe_room": "bedroom",
+        "probe_region_id": "0_7",
+        "first_seen_timestep": 26,
+        "best_view_timestep": 27,
+        "num_sightings": 2,
+        "spatial_relation": "right",
+        "object_position": [
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+          0.6916007995605469,
+          9.180489540100098
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+        "agent_position_when_seen": [
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+          0.08356200158596039,
+          12.791025161743164
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+        "pixel_centroid_x": 226.80357142857142,
+        "normalized_position_x": 0.7719029017857142,
+        "object_pixel_count": 168,
+        "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 picture before or after the sofa?",
+      "answer": "after",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        59
+      ],
+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "sofa",
+        "object_A_timestep": 3,
+        "object_B_id": 59,
+        "object_B_category": "picture",
+        "object_B_timestep": 6,
+        "time_gap": 3,
+        "asked_first_object_id": 59,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "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) dining room (B) bathroom (C) stairs",
+      "answer": "B",
+      "options": [
+        "dining room",
+        "bathroom",
+        "stairs"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "dining room",
+          "bathroom",
+          "stairs"
+        ],
+        "query_timestep_internal": 33,
+        "rooms_visited": [
+          "bathroom",
+          "closet",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 6,
+      "question": "Based on your exploration and knowledge of the environment, which area is the hallway you see now directly connected to? (A) office (B) toilet (C) closet",
+      "answer": "C",
+      "options": [
+        "office",
+        "toilet",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_16",
+        "adjacent_rooms": [
+          "0_11",
+          "0_12",
+          "0_13",
+          "0_15",
+          "0_17",
+          "0_5",
+          "0_6",
+          "0_7",
+          "0_8"
+        ],
+        "correct_answer_room": "0_13",
+        "all_options": [
+          "office",
+          "toilet",
+          "closet"
+        ],
+        "context_rooms": "closet, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 9,
+      "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": 9,
+        "current_room": "hallway",
+        "landmark_room": "tv",
+        "final_room": "closet",
+        "remaining_rooms": [
+          "hallway",
+          "bathroom",
+          "closet"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "closet",
+          "hallway"
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+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.1_TopologicalAdjacency",
+    "query_timestep": 7,
+    "question": "Based on your exploration and knowledge of the environment, which area is the kitchen you see now directly connected to? (A) bedroom (B) dining room (C) office",
+    "answer": "B",
+    "options": [
+      "bedroom",
+      "dining room",
+      "office"
+    ],
+    "probe_objects": [],
+    "metadata": {
+      "query_room": "0_6",
+      "adjacent_rooms": [
+        "0_12",
+        "0_14",
+        "0_16",
+        "0_24",
+        "0_25",
+        "0_4",
+        "0_5"
+      ],
+      "correct_answer_room": "0_5",
+      "all_options": [
+        "bedroom",
+        "dining room",
+        "office"
+      ],
+      "context_rooms": "hallway, living room"
+    }
+  }
+}

train/002358/meta.json

@@ -0,0 +1,247 @@
+{
+  "episode_id": 2358,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/E9uDoFAP3SH/E9uDoFAP3SH.glb",
+  "instruction": "InstructionData(instruction_text='turn around and go inside the doorway and then take a left and go to the next doorway then go straight until you are right under the next doorway. ', instruction_tokens=[2494, 159, 119, 1067, 1249, 2389, 766, 119, 2394, 2352, 73, 1360, 119, 1067, 2438, 2389, 1576, 766, 2394, 1067, 2288, 2524, 2703, 149, 1968, 2517, 2389, 1576, 766, 15])",
+  "instruction_text": "turn around and go inside the doorway and then take a left and go to the next doorway then go straight until you are right under the next doorway. ",
+  "num_steps": 76,
+  "total_unique_objects": 342,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 75,
+      "question": "Recall your earlier path. When you passed by the column in the balcony, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        340
+      ],
+      "metadata": {
+        "probe_object_id": 340,
+        "probe_category": "column",
+        "probe_room": "balcony",
+        "probe_region_id": "1_16",
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+        "best_view_timestep": 18,
+        "num_sightings": 27,
+        "spatial_relation": "left",
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+          -5.955618858337402,
+          -6.562650203704834
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+        "pixel_centroid_x": 108.17329657345411,
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+        "object_pixel_count": 2539,
+        "object_visibility_confirmed": true,
+        "category_unique_in_region": true,
+        "determination_method": "pixel_position",
+        "total_trajectory_length": 76
+      }
+    },
+    {
+      "query_type": "L1.2_TemporalRelationRecall",
+      "query_timestep": 75,
+      "question": "Along your path, did you see the curtain before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        7,
+        277
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+      "metadata": {
+        "object_A_id": 7,
+        "object_A_category": "curtain",
+        "object_A_timestep": 0,
+        "object_B_id": 277,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 7,
+        "asked_second_object_id": 277
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 9,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bedroom (B) balcony (C) closet",
+      "answer": "B",
+      "options": [
+        "bedroom",
+        "balcony",
+        "closet"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "balcony",
+        "all_options": [
+          "bedroom",
+          "balcony",
+          "closet"
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+        "rooms_visited": [
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+          "entryway/foyer/lobby",
+          "hallway",
+          "meetingroom/conferenceroom"
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+    {
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+      "query_timestep": 72,
+      "question": "From your current viewpoint, is the picture to the left or right of the sofa?",
+      "answer": "left",
+      "options": [
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+      "probe_objects": [
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+        469
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+      "query_timestep": 11,
+      "question": "Based on your exploration and knowledge of the environment, which area is the other room you see now directly connected to? (A) hallway (B) stairs (C) closet",
+      "answer": "A",
+      "options": [
+        "hallway",
+        "stairs",
+        "closet"
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+      "probe_objects": [],
+      "metadata": {
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+        "adjacent_rooms": [
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+          "0_44"
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+        "correct_answer_room": "0_42",
+        "all_options": [
+          "hallway",
+          "stairs",
+          "closet"
+        ],
+        "context_rooms": "meetingroom/conferenceroom"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 25,
+      "question": "From your current position, will you pass through the entryway/foyer/lobby on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 25,
+        "current_room": "balcony",
+        "landmark_room": "entryway/foyer/lobby",
+        "final_room": "meetingroom/conferenceroom",
+        "remaining_rooms": [
+          "balcony",
+          "entryway/foyer/lobby",
+          "hallway",
+          "meetingroom/conferenceroom"
+        ],
+        "all_rooms_in_trajectory": [
+          "balcony",
+          "entryway/foyer/lobby",
+          "hallway",
+          "meetingroom/conferenceroom"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "balcony"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L2.2_LocalSpatialRelation",
+    "query_timestep": 7,
+    "question": "From your current viewpoint, is the table to the left or right of the column?",
+    "answer": "left",
+    "options": [
+      "left",
+      "right"
+    ],
+    "probe_objects": [
+      340,
+      283
+    ],
+    "metadata": {
+      "object_A_id": 340,
+      "object_A_category": "column",
+      "object_A_position": [
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+        2.346489906311035,
+        -10.214400291442871
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+      "object_B_id": 283,
+      "object_B_category": "table",
+      "object_B_position": [
+        3.3958399295806885,
+        0.8318189382553101,
+        0.337549090385437
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+      "spatial_relation": "left",
+      "agent_position": [
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+        -5.955618858337402,
+        -8.53281021118164
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+      "agent_rotation": [
+        0.15309759974479675,
+        0.0,
+        0.9882110357284546,
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+    }
+  }
+}

train/002472/meta.json

@@ -0,0 +1,239 @@
+{
+  "episode_id": 2472,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/Uxmj2M2itWa/Uxmj2M2itWa.glb",
+  "instruction": "InstructionData(instruction_text='Walk towards metal chair and go right. Go towards red bed and turn right. Take next right and go left down hallway to mirror. ', instruction_tokens=[2584, 2452, 1495, 457, 119, 1067, 1968, 15, 1067, 2452, 1939, 267, 119, 2494, 1968, 15, 2352, 1576, 1968, 119, 1067, 1360, 780, 1126, 2438, 1515, 15])",
+  "instruction_text": "Walk towards metal chair and go right. Go towards red bed and turn right. Take next right and go left down hallway to mirror. ",
+  "num_steps": 86,
+  "total_unique_objects": 161,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 85,
+      "question": "Recall your earlier path. When you passed by the cabinet in the spa/sauna, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        250
+      ],
+      "metadata": {
+        "probe_object_id": 250,
+        "probe_category": "cabinet",
+        "probe_room": "spa/sauna",
+        "probe_region_id": "0_22",
+        "first_seen_timestep": 55,
+        "best_view_timestep": 55,
+        "num_sightings": 1,
+        "spatial_relation": "left",
+        "object_position": [
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+          0.828942060470581,
+          4.622029781341553
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+        "agent_position_when_seen": [
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+          2.0903584957122803
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+        "pixel_centroid_x": 24.451612903225808,
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+        "object_pixel_count": 155,
+        "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  before or after the chair?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        35,
+        225
+      ],
+      "metadata": {
+        "object_A_id": 35,
+        "object_A_category": "",
+        "object_A_timestep": 0,
+        "object_B_id": 225,
+        "object_B_category": "chair",
+        "object_B_timestep": 3,
+        "time_gap": 3,
+        "asked_first_object_id": 35,
+        "asked_second_object_id": 225
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 76,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) bathroom (B) familyroom/lounge (C) living room",
+      "answer": "A",
+      "options": [
+        "bathroom",
+        "familyroom/lounge",
+        "living room"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "bathroom",
+        "all_options": [
+          "bathroom",
+          "familyroom/lounge",
+          "living room"
+        ],
+        "query_timestep_internal": 76,
+        "rooms_visited": [
+          "bathroom",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
+        ]
+      }
+    },
+    {
+      "query_type": "L2.2_LocalSpatialRelation",
+      "query_timestep": 51,
+      "question": "From your current viewpoint, is the table to the left or right of the bed?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
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+      "probe_objects": [
+        265,
+        249
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+      "metadata": {
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+        "object_A_category": "bed",
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+        "object_B_category": "table",
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+    {
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+      "query_timestep": 67,
+      "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) familyroom/lounge",
+      "answer": "A",
+      "options": [
+        "bedroom",
+        "kitchen",
+        "familyroom/lounge"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_17",
+        "adjacent_rooms": [
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+          "0_21",
+          "0_23",
+          "0_24",
+          "0_26"
+        ],
+        "correct_answer_room": "0_23",
+        "all_options": [
+          "bedroom",
+          "kitchen",
+          "familyroom/lounge"
+        ],
+        "context_rooms": "hallway, hallway"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 10,
+      "question": "From your current position, will you pass through the bedroom on the way to your destination?",
+      "answer": "yes",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 10,
+        "current_room": "hallway",
+        "landmark_room": "bedroom",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "hallway",
+          "entryway/foyer/lobby",
+          "hallway",
+          "bedroom",
+          "hallway",
+          "bedroom",
+          "bathroom",
+          "bedroom",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "bathroom",
+          "bedroom",
+          "entryway/foyer/lobby",
+          "hallway"
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+        "ground_truth_path_includes_landmark": true,
+        "negative_kind": null,
+        "passed_rooms": [
+          "hallway"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L1.2_TemporalRelationRecall",
+    "query_timestep": 85,
+    "question": "Along your path, did you see the  before or after the chair?",
+    "answer": "before",
+    "options": [
+      "before",
+      "after",
+      "at the same time"
+    ],
+    "probe_objects": [
+      35,
+      225
+    ],
+    "metadata": {
+      "object_A_id": 35,
+      "object_A_category": "",
+      "object_A_timestep": 0,
+      "object_B_id": 225,
+      "object_B_category": "chair",
+      "object_B_timestep": 3,
+      "time_gap": 3,
+      "asked_first_object_id": 35,
+      "asked_second_object_id": 225
+    }
+  }
+}

train/002522/meta.json

@@ -0,0 +1,190 @@
+{
+  "episode_id": 2522,
+  "scene_id": "/home/jinzhou/MindCraft/data/scene_datasets/mp3d/B6ByNegPMKs/B6ByNegPMKs.glb",
+  "instruction": "InstructionData(instruction_text='Walk straight past the sets of tables on the left. Go through the door on the right and turn left.  Wait in the hallway intersection. ', instruction_tokens=[2584, 2288, 1728, 2389, 2075, 1605, 2347, 1613, 2389, 1360, 15, 1067, 2418, 2389, 757, 1613, 2389, 1968, 119, 2494, 1360, 15, 2579, 1237, 2389, 1126, 1262, 15])",
+  "instruction_text": "Walk straight past the sets of tables on the left. Go through the door on the right and turn left.  Wait in the hallway intersection. ",
+  "num_steps": 56,
+  "total_unique_objects": 1619,
+  "mindcraft_queries": [
+    {
+      "query_type": "L1.1_ObjectAttributeRecall",
+      "query_timestep": 55,
+      "question": "Recall your earlier path. When you passed by the curtain in the meetingroom/conferenceroom, was it on your left side or right side?",
+      "answer": "left",
+      "options": [
+        "left",
+        "right"
+      ],
+      "probe_objects": [
+        84
+      ],
+      "metadata": {
+        "probe_object_id": 84,
+        "probe_category": "curtain",
+        "probe_room": "meetingroom/conferenceroom",
+        "probe_region_id": "0_2",
+        "first_seen_timestep": 43,
+        "best_view_timestep": 45,
+        "num_sightings": 3,
+        "spatial_relation": "left",
+        "object_position": [
+          25.277999877929688,
+          1.16748046875,
+          12.074600219726562
+        ],
+        "agent_position_when_seen": [
+          25.609840393066406,
+          0.08020400255918503,
+          15.188577651977539
+        ],
+        "pixel_centroid_x": 4.021428571428571,
+        "normalized_position_x": -0.9685825892857143,
+        "object_pixel_count": 140,
+        "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  before or after the objects?",
+      "answer": "before",
+      "options": [
+        "before",
+        "after",
+        "at the same time"
+      ],
+      "probe_objects": [
+        31,
+        7
+      ],
+      "metadata": {
+        "object_A_id": 31,
+        "object_A_category": "",
+        "object_A_timestep": 4,
+        "object_B_id": 7,
+        "object_B_category": "objects",
+        "object_B_timestep": 7,
+        "time_gap": 3,
+        "asked_first_object_id": 31,
+        "asked_second_object_id": 7
+      }
+    },
+    {
+      "query_type": "L2.1_SelfLocalization",
+      "query_timestep": 14,
+      "question": "Based on your memory and current observations, which room do you think you are in? (A) meetingroom/conferenceroom (B) lounge (C) office",
+      "answer": "C",
+      "options": [
+        "meetingroom/conferenceroom",
+        "lounge",
+        "office"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "correct_room": "office",
+        "all_options": [
+          "meetingroom/conferenceroom",
+          "lounge",
+          "office"
+        ],
+        "query_timestep_internal": 14,
+        "rooms_visited": [
+          "hallway",
+          "office"
+        ]
+      }
+    },
+    {
+      "query_type": "L3.1_TopologicalAdjacency",
+      "query_timestep": 12,
+      "question": "Based on your exploration and knowledge of the environment, which area is the office you see now directly connected to? (A) office (B) classroom (C) library",
+      "answer": "A",
+      "options": [
+        "office",
+        "classroom",
+        "library"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_room": "0_33",
+        "adjacent_rooms": [
+          "0_17",
+          "0_18",
+          "0_19",
+          "0_32",
+          "0_34"
+        ],
+        "correct_answer_room": "0_34",
+        "all_options": [
+          "office",
+          "classroom",
+          "library"
+        ],
+        "context_rooms": "hallway, office"
+      }
+    },
+    {
+      "query_type": "L3.2_LandmarkPathValidation",
+      "query_timestep": 18,
+      "question": "From your current position, will you pass through the library on the way to your destination?",
+      "answer": "no",
+      "options": [
+        "yes",
+        "no"
+      ],
+      "probe_objects": [],
+      "metadata": {
+        "query_timestep_internal": 18,
+        "current_room": "office",
+        "landmark_room": "library",
+        "final_room": "hallway",
+        "remaining_rooms": [
+          "office",
+          "hallway"
+        ],
+        "all_rooms_in_trajectory": [
+          "hallway",
+          "office"
+        ],
+        "ground_truth_path_includes_landmark": false,
+        "negative_kind": "never_visited",
+        "passed_rooms": [
+          "office"
+        ]
+      }
+    }
+  ],
+  "primary_query": {
+    "query_type": "L3.2_LandmarkPathValidation",
+    "query_timestep": 22,
+    "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": 22,
+      "current_room": "office",
+      "landmark_room": "hallway",
+      "final_room": "hallway",
+      "remaining_rooms": [
+        "office",
+        "hallway"
+      ],
+      "all_rooms_in_trajectory": [
+        "hallway",
+        "office"
+      ],
+      "ground_truth_path_includes_landmark": true,
+      "negative_kind": null,
+      "passed_rooms": [
+        "office"
+      ]
+    }
+  }
+}