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"choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top left", "middle right", "bottom left" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_5.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_5.png", "ability": "object_localization" }, { "index": 32, "scene_id": "17DRP5sb8fy", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom left", "middle center", "middle right" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 33, "scene_id": "17DRP5sb8fy", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top right", "middle center", "top center" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 34, "scene_id": "17DRP5sb8fy", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom left", "top center", "middle center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 35, "scene_id": "17DRP5sb8fy", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "top left", "top right", "middle left" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 36, "scene_id": "17DRP5sb8fy", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top left", "bottom left", "middle center" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 37, "scene_id": "17DRP5sb8fy", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "top center", "bottom right", "bottom left" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 38, "scene_id": "17DRP5sb8fy", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "top center", "middle right" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 39, "scene_id": "17DRP5sb8fy", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle center", "top center", "top right" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_7.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_7.png", "ability": "object_localization" }, { "index": 40, "scene_id": "17DRP5sb8fy", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom right", "middle right", "top left" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 41, "scene_id": "17DRP5sb8fy", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "middle right", "bottom right", "top left" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 44, "scene_id": "17DRP5sb8fy", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "middle center", "middle right", "bottom left" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 45, "scene_id": "17DRP5sb8fy", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom center", "top right", "middle center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 46, "scene_id": "17DRP5sb8fy", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom right", "top center", "top right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 47, "scene_id": "17DRP5sb8fy", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "middle right", "top center", "bottom center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_8.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_8.png", "ability": "object_localization" }, { "index": 48, "scene_id": "17DRP5sb8fy", "question": "Where is the stool in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "middle center", "bottom left", "top center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 49, "scene_id": "17DRP5sb8fy", "question": "Where is the stool in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "bottom left", "top left" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 52, "scene_id": "17DRP5sb8fy", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "bottom left", "top center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 53, "scene_id": "17DRP5sb8fy", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "top center", "bottom center", "middle center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 54, "scene_id": "17DRP5sb8fy", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top center", "middle right", "top left" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 55, "scene_id": "17DRP5sb8fy", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top 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"data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 57, "scene_id": "17DRP5sb8fy", "question": "Where is the shelving in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "top left", "middle left" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy_0_9.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy_0_9.png", "ability": "object_localization" }, { "index": 58, "scene_id": "17DRP5sb8fy", "question": "What objects does familyroom/lounge have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "stool", "chest_of_drawers", "cushion", "clothes" ], "labels": [ "cushion" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 59, "scene_id": "17DRP5sb8fy", "question": "What objects does familyroom/lounge have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "bed", "fireplace", "chair", "gym_equipment" ], "labels": [ "chair" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 60, "scene_id": "17DRP5sb8fy", "question": "What objects does bedroom have? ", "question_meta_data": { "choices": "", "template": "What objects does have? 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" }, "choices": [ "bathtub", "shelving", "counter", "seating" ], "labels": [ "counter" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 63, "scene_id": "17DRP5sb8fy", "question": "What objects does bathroom have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "bathtub", "sink", "chair", "chest_of_drawers" ], "labels": [ "sink" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 64, "scene_id": "17DRP5sb8fy", "question": "What objects does kitchen have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "counter", "chair", "table", "cushion" ], "labels": [ "counter" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 65, "scene_id": "17DRP5sb8fy", "question": "What objects does kitchen have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "stool", "fireplace", "plant", "chest_of_drawers" ], "labels": [ "stool" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 66, "scene_id": "17DRP5sb8fy", "question": "What objects does living room have? ", "question_meta_data": { "choices": "", "template": "What objects does have? 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77, "scene_id": "17DRP5sb8fy", "question": "Where is the bathroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom left", "middle right", "top center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_localization" }, { "index": 78, "scene_id": "17DRP5sb8fy", "question": "Where is the kitchen in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "top center", "middle right" ], "labels": [ "bottom center" 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"index": 92, "scene_id": "2azQ1b91cZZ", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle right", "bottom center", "top center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_14.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_14.png", "ability": "object_localization" }, { "index": 93, "scene_id": "2azQ1b91cZZ", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "top left", "bottom center", "middle right" ], 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'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom center", "bottom left", "top left" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_17.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_17.png", "ability": "object_localization" }, { "index": 100, "scene_id": "2azQ1b91cZZ", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle center", "middle left", "top right" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_17.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_17.png", "ability": "object_localization" }, { "index": 101, "scene_id": "2azQ1b91cZZ", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "top right", "bottom center", "top left" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_17.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_17.png", "ability": "object_localization" }, { "index": 102, "scene_id": "2azQ1b91cZZ", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "bottom left", "middle left", "middle right" ], "labels": [ "top center" 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'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top center", "bottom center", "top right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_18.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_18.png", "ability": "object_localization" }, { "index": 105, "scene_id": "2azQ1b91cZZ", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "bottom right", "top left", "middle right" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_18.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_18.png", "ability": "object_localization" }, { "index": 108, "scene_id": "2azQ1b91cZZ", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle center", "middle right", "top right" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/2azQ1b91cZZ/semantic/2azQ1b91cZZ_0_18.png", "rgb_map": "data/mp3d/2azQ1b91cZZ/rgb/2azQ1b91cZZ_0_18.png", "ability": "object_localization" }, { "index": 109, "scene_id": "2azQ1b91cZZ", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "middle center", "middle right", "bottom center" ], "labels": [ 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"ability": "scene_localization" }, { "index": 93, "scene_id": "5LpN3gDmAk7", "question": "Where is the kitchen in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "bottom right", "top left", "bottom center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 94, "scene_id": "5LpN3gDmAk7", "question": "Where is the bathroom in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom left", "top 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'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "bottom center", "bottom left", "middle left" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 97, "scene_id": "5LpN3gDmAk7", "question": "Where is the bar in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top right", "top center", "bottom center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 98, "scene_id": "5LpN3gDmAk7", "question": "Where is the living room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "middle right", "middle center", "bottom right" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 99, "scene_id": "5LpN3gDmAk7", "question": "Where is the living room in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "top left", "bottom left", "middle left" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 100, "scene_id": "5LpN3gDmAk7", "question": "Where is the stairs in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "middle right", "bottom center", "middle left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 101, "scene_id": "5LpN3gDmAk7", "question": "Where is the stairs in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "middle right", "middle center", "middle left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/5LpN3gDmAk7/semantic/5LpN3gDmAk7.png", "rgb_map": "data/mp3d/5LpN3gDmAk7/rgb/5LpN3gDmAk7.png", "ability": "scene_localization" }, { "index": 0, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom left", "bottom right", "bottom center" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 0, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "bottom left", "bottom center", "middle right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 1, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "top right", "top left", "middle right" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 2, "scene_id": "8WUmhLawc2A", "question": "Where is the shelving in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle left", "middle right", "top center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 3, "scene_id": "8WUmhLawc2A", "question": "Where is the shelving in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top center", "top left", "middle left" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 4, "scene_id": "8WUmhLawc2A", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top center", "bottom center", "top left" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 5, "scene_id": "8WUmhLawc2A", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "middle right", "top left", "middle left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 6, "scene_id": "8WUmhLawc2A", "question": "Where is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top left", "top center", "bottom right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 7, "scene_id": "8WUmhLawc2A", "question": "Where is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle right", "bottom right", "bottom center" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 8, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom left", "bottom center", "middle center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 9, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "top right", "top left", "bottom left" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 10, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top left", "middle right", "top right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 11, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle right", "bottom left", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_0.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_0.png", "ability": "object_localization" }, { "index": 12, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top right", "bottom left", "top center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 13, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top left", "bottom center", "top right" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 14, "scene_id": "8WUmhLawc2A", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "bottom right", "middle left", "middle right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 15, "scene_id": "8WUmhLawc2A", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom left", "bottom center", "bottom right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 16, "scene_id": "8WUmhLawc2A", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "bottom right", "bottom left", "top right" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 17, "scene_id": "8WUmhLawc2A", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom right", "bottom left", "bottom center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 18, "scene_id": "8WUmhLawc2A", "question": "Where is the shower in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "bottom right", "top center", "middle center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 19, "scene_id": "8WUmhLawc2A", "question": "Where is the shower in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "middle left", "top left", "middle center" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_1.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_1.png", "ability": "object_localization" }, { "index": 20, "scene_id": "8WUmhLawc2A", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "top left", "bottom center" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 21, "scene_id": "8WUmhLawc2A", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "middle left", "top right", "bottom left" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 22, "scene_id": "8WUmhLawc2A", "question": "Where is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top center", "bottom left", "top left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 23, "scene_id": "8WUmhLawc2A", "question": "Where is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "bottom left", "middle center", "middle right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 24, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom left", "top right", "bottom center" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 25, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "middle center", "top center", "top left" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 26, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top left", "bottom right", "top center" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 27, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top right", "bottom center", "top center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 28, "scene_id": "8WUmhLawc2A", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "top right", "middle left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 29, "scene_id": "8WUmhLawc2A", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom center", "middle left", "bottom left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_2.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_2.png", "ability": "object_localization" }, { "index": 30, "scene_id": "8WUmhLawc2A", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top left", "middle right", "top center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 31, "scene_id": "8WUmhLawc2A", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top center", "middle center", "top left" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 32, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "top left", "top right", "top center" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 33, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle left", "bottom right", "middle center" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 34, "scene_id": "8WUmhLawc2A", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle center", "top left", "top right" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 35, "scene_id": "8WUmhLawc2A", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "top left", "middle left", "bottom center" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 36, "scene_id": "8WUmhLawc2A", "question": "Where is the stool in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "middle left", "top center", "bottom right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 37, "scene_id": "8WUmhLawc2A", "question": "Where is the stool in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top left", "middle center", "middle left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 38, "scene_id": "8WUmhLawc2A", "question": "Where is the shower in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "bottom left", "top center", "top left" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 39, "scene_id": "8WUmhLawc2A", "question": "Where is the shower in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top right", "bottom left", "middle right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 40, "scene_id": "8WUmhLawc2A", "question": "Where is the bathtub in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "middle left", "middle right", "bottom right" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_3.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_3.png", "ability": "object_localization" }, { "index": 41, "scene_id": "8WUmhLawc2A", "question": "Where is the bathtub in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "bottom center", "middle center", "top right" ], "labels": [ "middle right" ], "semantic_map": 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is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "middle right", "top left", "middle left" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_6.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_6.png", "ability": "object_localization" }, { "index": 51, "scene_id": "8WUmhLawc2A", "question": "Where is the seating in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "middle right", "top center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_6.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_6.png", "ability": "object_localization" }, { "index": 52, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "middle left", "middle right", "top center" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_6.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_6.png", "ability": "object_localization" }, { "index": 53, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom 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"data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_8.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_8.png", "ability": "object_localization" }, { "index": 61, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "top left", "middle right", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_8.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_8.png", "ability": "object_localization" }, { "index": 64, "scene_id": "8WUmhLawc2A", "question": "Where is the appliances in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom 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"question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top right", "bottom left", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_8.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_8.png", "ability": "object_localization" }, { "index": 67, "scene_id": "8WUmhLawc2A", "question": "Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom left", "middle center", "top center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_8.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_8.png", "ability": "object_localization" }, { "index": 68, "scene_id": "8WUmhLawc2A", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "top left", "middle left", "top right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 69, "scene_id": "8WUmhLawc2A", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom 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'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top left", "bottom center", "middle center" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 75, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "middle right", "top right", "bottom right" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 76, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom right", "top right", "bottom left" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 77, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "middle left", "bottom right", "top left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 78, "scene_id": "8WUmhLawc2A", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "top right", "middle left", "bottom left" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_9.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_9.png", "ability": "object_localization" }, { "index": 79, "scene_id": "8WUmhLawc2A", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom 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top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle left", "bottom right", "bottom left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_10.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_10.png", "ability": "object_localization" }, { "index": 82, "scene_id": "8WUmhLawc2A", "question": "Where is the lighting in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "bottom right", "bottom left", "top center" ], "labels": [ "bottom left" ], "semantic_map": 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"Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "bottom center", "top left", "bottom left" ], "labels": [ "top left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_12.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_12.png", "ability": "object_localization" }, { "index": 87, "scene_id": "8WUmhLawc2A", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "bottom left", "bottom right", "bottom center" ], "labels": [ "top center" ], "semantic_map": 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"Where is the sink in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "middle right", "top center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_12.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_12.png", "ability": "object_localization" }, { "index": 94, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "middle center", "bottom center", "top center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 95, "scene_id": "8WUmhLawc2A", "question": "Where is the bed in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom center", "top right", "top center" ], "labels": [ "top center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 96, "scene_id": "8WUmhLawc2A", "question": "Where is the lighting in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "bottom center", "top right", "middle left" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 97, "scene_id": "8WUmhLawc2A", "question": "Where is the lighting in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle left", "top center", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 98, "scene_id": "8WUmhLawc2A", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "top right", "bottom center", "middle center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 99, "scene_id": "8WUmhLawc2A", "question": "Where is the sofa in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "top center", "top right", "bottom right" ], "labels": [ "middle center" ], "semantic_map": 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"8WUmhLawc2A", "question": "Where is the stool in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "middle left", "bottom center", "middle center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 104, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle center", "bottom right", "bottom left", "bottom center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 105, "scene_id": "8WUmhLawc2A", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "top left", "bottom center", "middle right" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_13.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_13.png", "ability": "object_localization" }, { "index": 106, "scene_id": "8WUmhLawc2A", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom 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"question": "Where is the shelving in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "middle left", "middle center", "bottom left" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_14.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_14.png", "ability": "object_localization" }, { "index": 109, "scene_id": "8WUmhLawc2A", "question": "Where is the shelving in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top right", "middle left", "bottom right" ], "labels": [ "middle left" ], 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"question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top right", "bottom center", "top left" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/8WUmhLawc2A/semantic/8WUmhLawc2A_0_14.png", "rgb_map": "data/mp3d/8WUmhLawc2A/rgb/8WUmhLawc2A_0_14.png", "ability": "object_localization" }, { "index": 114, "scene_id": "8WUmhLawc2A", "question": "Where is the toilet in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "bottom right", "middle left", "top left" ], "labels": [ "bottom right" ], "semantic_map": 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"choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "middle center", "top center", "middle right" ], "labels": [ "bottom center" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_4.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_4.png", "ability": "object_localization" }, { "index": 32, "scene_id": "i5noydFURQK", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "bottom left", "top left", "top center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_4.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_4.png", "ability": "object_localization" }, { "index": 33, "scene_id": "i5noydFURQK", "question": "Where is the counter in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom right", "top right", "bottom left", "middle center" ], "labels": [ "bottom left" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_4.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_4.png", "ability": "object_localization" }, { "index": 34, "scene_id": "i5noydFURQK", "question": "Where is the bathtub in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom left", "middle center", "top left", "middle right" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_4.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_4.png", "ability": "object_localization" }, { "index": 35, "scene_id": "i5noydFURQK", "question": "Where is the bathtub in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top left", "bottom right", "middle right", "bottom left" ], "labels": [ "middle right" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_4.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_4.png", "ability": "object_localization" }, { "index": 38, "scene_id": "i5noydFURQK", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top left", "top right", "middle center" ], "labels": [ "top right" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_5.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_5.png", "ability": "object_localization" }, { "index": 39, "scene_id": "i5noydFURQK", "question": "Where is the chest_of_drawers in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle right", "top center", "bottom right", "top left" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_5.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_5.png", "ability": "object_localization" }, { "index": 40, "scene_id": "i5noydFURQK", "question": "Where is the lighting in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "bottom center", "middle right", "middle left", "bottom right" ], "labels": [ "bottom right" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_5.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_5.png", "ability": "object_localization" }, { "index": 42, "scene_id": "i5noydFURQK", "question": "Where is the cushion in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down 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"choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top right", "top center", "middle left", "middle center" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_6.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_6.png", "ability": "object_localization" }, { "index": 45, "scene_id": "i5noydFURQK", "question": "Where is the table in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "top center", "middle right", "middle center", "bottom right" ], "labels": [ "middle center" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_6.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_6.png", "ability": "object_localization" }, { "index": 46, "scene_id": "i5noydFURQK", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, "choices": [ "middle left", "bottom right", "bottom left", "top right" ], "labels": [ "middle left" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK_1_6.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK_1_6.png", "ability": "object_localization" }, { "index": 47, "scene_id": "i5noydFURQK", "question": "Where is the chair in the top-down map?", "question_meta_data": { "choices": "['top left', 'top center', 'top right', 'middle left', 'middle center', 'middle right', 'bottom left', 'bottom center', 'bottom right']", "template": "Where is the in the top-down map?" }, 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" }, "choices": [ "railing", "chair", "counter", "sofa" ], "labels": [ "chair" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK.png", "ability": "scene_localization" }, { "index": 55, "scene_id": "i5noydFURQK", "question": "What objects does bedroom have? ", "question_meta_data": { "choices": "", "template": "What objects does have? " }, "choices": [ "appliances", "clothes", "shelving", "seating" ], "labels": [ "seating" ], "semantic_map": "data/mp3d/i5noydFURQK/semantic/i5noydFURQK.png", "rgb_map": "data/mp3d/i5noydFURQK/rgb/i5noydFURQK.png", "ability": "scene_localization" }, { "index": 56, "scene_id": "i5noydFURQK", "question": "What objects does office have? ", "question_meta_data": { "choices": "", "template": "What objects does have? 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", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "0", "2", "1", "4" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 1, "scene_id": "17DRP5sb8fy", "question": "How many bedroom are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "3", "0", "4", "1" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 2, "scene_id": "17DRP5sb8fy", "question": "How many bathroom are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "0", "2", "4", "1" ], "labels": [ "2" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 3, "scene_id": "17DRP5sb8fy", "question": "How many bathroom are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "4", "2", "5", "1" ], "labels": [ "2" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 4, "scene_id": "17DRP5sb8fy", "question": "How many toilet are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "4", "0", "2", "1" ], "labels": [ "2" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 5, "scene_id": "17DRP5sb8fy", "question": "How many toilet are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "4", "3", "0", "2" ], "labels": [ "2" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 6, "scene_id": "17DRP5sb8fy", "question": "How many dining room are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "2", "3", "1", "0" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 7, "scene_id": "17DRP5sb8fy", "question": "How many dining room are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "0", "1", "4", "2" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 8, "scene_id": "17DRP5sb8fy", "question": "How many kitchen are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "0", "3", "1", "4" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 9, "scene_id": "17DRP5sb8fy", "question": "How many kitchen are there? ", "question_meta_data": { "choices": "", "template": "How many are there in the map? " }, "choices": [ "0", "1", "3", "2" ], "labels": [ "1" ], "semantic_map": "data/mp3d/17DRP5sb8fy/semantic/17DRP5sb8fy.png", "rgb_map": "data/mp3d/17DRP5sb8fy/rgb/17DRP5sb8fy.png", "ability": "scene_counting" }, { "index": 10, "scene_id": "17DRP5sb8fy", "question": "What's bed's relative spatial relations to cushion? ", "question_meta_data": { "choices": "", "template": "What's 's relative spatial relation to ? 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