[Question]: VLN-CE子集咨询 #270
Description
Question
您好，我之前询问过VLN-N1自己的数据规范问题，我已经知道VLN-N1这个自己中各个字段的含义了，现在我希望也能使用一下VLN-CE数据集，我看一个episode中一个点形如：
{
"action": -1,
"pose.125cm_0deg": [
[0, 0, 1, 0],
[-1, 0, 0, 0],
[0, -1, 0, 1.25],
[0, 0, 0, 1]
],
"goal.125cm_0deg": [-1, -1],
"relative_goal_frame_id.125cm_0deg": -1,
"pose.125cm_30deg": [
[0, -0.5, 0.866, 0],
[-1, 0, 0, 0],
[0, -0.866, -0.5, 1.25],
[0, 0, 0, 1]
],
"goal.125cm_30deg": [163, 265],
"relative_goal_frame_id.125cm_30deg": 14,
"pose.125cm_45deg": [
[0, -0.707, 0.707, 0],
[-1, 0, 0, 0],
[0, -0.707, -0.707, 1.25],
[0, 0, 0, 1]
],
"goal.125cm_45deg": [161, 162],
"relative_goal_frame_id.125cm_45deg": 14,
"pose.60cm_15deg": [
[0, -0.259, 0.966, 0],
[-1, 0, 0, 0],
[0, -0.966, -0.259, 0.6],
[0, 0, 0, 1]
],
"goal.60cm_15deg": [105, 250],
"relative_goal_frame_id.60cm_15deg": 14,
"pose.60cm_30deg": [
[0, -0.5, 0.866, 0],
[-1, 0, 0, 0],
[0, -0.866, -0.5, 0.6],
[0, 0, 0, 1]
],
"goal.60cm_30deg": [98, 126],
"relative_goal_frame_id.60cm_30deg": 14,
"timestamp": 0,
"frame_index": 0,
"episode_index": 0,
"index": 0,
"task_index": 0
}请问这里面的pose.xxcm_xxdeg和pose.xxcm_xxdeg还有什么relative_goal_frame_id等等各个字段都是什么意思？