| # Open Vocab Mobile Manipulation episodes | |
| We describe the fields in our OVMM episodes. | |
| ## Initial Configuration | |
| - `rigid_objs`: Initial poses of all pickable objects inserted into the scene specified via a 4x4 array | |
| - `start_position`: Position of the agent at the start of the episode. | |
| - `start_rotation`: Orientation of the agent at the start of the episode. | |
| ## Goal specification | |
| `object_category`, `start_recep_category`, and `end_recep_category`: These fields specify the OVMM task goal - Move `object_category` from `start_recep_category` to `goal_recep_category` | |
| ## Candidate targets | |
| Each target is specified via an `object_id` along with information on `position` and a set of `view_points` (agent poses from where the target is visible). | |
| - `candidate_objects`: object instances belonging to `object_category` on top of a receptacle belonging to `start_recep_category` | |
| - `candidate_objects_hard`: all object instances belonging to `object_category` | |
| - `candidate_start_receps`: all receptacle instances belonging to `start_recep_category` | |
| - `candidate_goal_receps`: all receptacle instances belonging to `goal_recep_category` |