is_first
bool 2
classes | is_last
bool 2
classes | is_terminal
bool 2
classes | language_instruction
stringclasses 35
values | language_instruction_2
stringclasses 35
values | language_instruction_3
stringclasses 35
values | observation.state.gripper_position
float64 0
0.99
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listlengths 6
6
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listlengths 7
7
| observation.state
listlengths 8
8
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float64 0
1
| action.gripper_velocity
float64 -1
1
| action.cartesian_position
listlengths 6
6
| action.cartesian_velocity
listlengths 6
6
| action.joint_position
listlengths 7
7
| action.joint_velocity
listlengths 7
7
| action.original
listlengths 7
7
| action
listlengths 8
8
| discount
float64 1
1
| reward
float64 0
1
| task_category
stringclasses 23
values | building
stringclasses 23
values | collector_id
stringclasses 25
values | date
stringclasses 25
values | camera_extrinsics.wrist_left
listlengths 6
6
| camera_extrinsics.exterior_1_left
listlengths 6
6
| camera_extrinsics.exterior_2_left
listlengths 6
6
| is_episode_successful
bool 2
classes | timestamp
float64 0
84.7
| frame_index
int64 0
1.27k
| episode_index
int64 47
92
| index
int64 0
12.4k
| task_index
int64 0
71
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false |
Pick the cap and put it on top of the bottle
|
Close the jar on the table
|
Cover the container with the lid
| 0 |
[
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0.3339018225669861,
3.023707866668701,
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[
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[
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[
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[
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] | 1 | 0 |
Lyman
|
Lyman
|
50aee79f
|
50aee79f
|
[
0.28749358654022217,
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0.42959779500961304,
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[
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[
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] | true | 26 | 390 | 92 | 12,400 | 71 |
false | false | false |
Pick the cap and put it on top of the bottle
|
Close the jar on the table
|
Cover the container with the lid
| 0 |
[
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3.0179672241210938,
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[
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[
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1.6769740581512451,
0.29865315556526184,
0
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[
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3.0152246952056885,
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[
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0
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[
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[
0,
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[
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[
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1.64327871799469,
0.29816165566444397,
0
] | 1 | 0 |
Lyman
|
Lyman
|
50aee79f
|
50aee79f
|
[
0.28749358654022217,
-0.0914357379078865,
0.42959779500961304,
2.7915022373199463,
0.18847393989562988,
1.8448795080184937
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[
0.33953356742858887,
0.4720557928085327,
0.31703782081604004,
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0.007110032718628645,
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[
0.3281003534793854,
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0.38890600204467773,
-2.0393502712249756,
-0.05166702717542648,
-1.010680079460144
] | true | 26.066667 | 391 | 92 | 12,401 | 71 |
false | false | false |
Pick the cap and put it on top of the bottle
|
Close the jar on the table
|
Cover the container with the lid
| 0 |
[
0.8037968873977661,
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0.36008021235466003,
3.015150785446167,
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[
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1.6417651176452637,
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[
0.0039870054461061954,
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-0.08207514882087708,
1.6417651176452637,
0.29813992977142334,
0
] | 0 | 0 |
[
0.8016968965530396,
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0.3697373867034912,
3.0156311988830566,
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[
0,
0,
0,
0,
0,
0
] |
[
0.004328531213104725,
1.1921813488006592,
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[
0,
0,
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0,
0,
0,
0
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[
0.8016968965530396,
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0.3697373867034912,
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[
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1.6250258684158325,
0.2978619635105133,
0
] | 1 | 0 |
Lyman
|
Lyman
|
50aee79f
|
50aee79f
|
[
0.28749358654022217,
-0.0914357379078865,
0.42959779500961304,
2.7915022373199463,
0.18847393989562988,
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[
0.33953356742858887,
0.4720557928085327,
0.31703782081604004,
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0.007110032718628645,
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[
0.3281003534793854,
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0.38890600204467773,
-2.0393502712249756,
-0.05166702717542648,
-1.010680079460144
] | true | 26.133333 | 392 | 92 | 12,402 | 71 |
false | false | false |
Pick the cap and put it on top of the bottle
|
Close the jar on the table
|
Cover the container with the lid
| 0 |
[
0.8015949726104736,
-0.026223162189126015,
0.37019577622413635,
3.0156726837158203,
-0.1269776076078415,
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[
0.004347671288996935,
1.191502571105957,
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1.6242456436157227,
0.29784274101257324
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[
0.004347671288996935,
1.191502571105957,
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-0.34852972626686096,
-0.0813865214586258,
1.6242456436157227,
0.29784274101257324,
0
] | 0 | 0 |
[
0.8002736568450928,
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0.3752550780773163,
3.015669584274292,
-0.12410271167755127,
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[
0,
0,
0,
0,
0,
0
] |
[
0.004705136641860008,
1.1837255954742432,
-0.08116433769464493,
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-0.08100660145282745,
1.6139729022979736,
0.2977809011936188
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[
0,
0,
0,
0,
0,
0,
0
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[
0.8002736568450928,
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0.3752550780773163,
3.015669584274292,
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0
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[
0.004705136641860008,
1.1837255954742432,
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-0.34890010952949524,
-0.08100660145282745,
1.6139729022979736,
0.2977809011936188,
0
] | 1 | 0 |
Lyman
|
Lyman
|
50aee79f
|
50aee79f
|
[
0.28749358654022217,
-0.0914357379078865,
0.42959779500961304,
2.7915022373199463,
0.18847393989562988,
1.8448795080184937
] |
[
0.33953356742858887,
0.4720557928085327,
0.31703782081604004,
-2.075943946838379,
0.007110032718628645,
-2.295785665512085
] |
[
0.3281003534793854,
-0.35070139169692993,
0.38890600204467773,
-2.0393502712249756,
-0.05166702717542648,
-1.010680079460144
] | true | 26.2 | 393 | 92 | 12,403 | 71 |
false | true | true |
Pick the cap and put it on top of the bottle
|
Close the jar on the table
|
Cover the container with the lid
| 0 |
[
0.8002151846885681,
-0.025980686768889427,
0.3754173815250397,
3.0156409740448,
-0.12388455122709274,
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[
0.004719389136880636,
1.1834594011306763,
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1.6134942770004272,
0.29777583479881287
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[
0.004719389136880636,
1.1834594011306763,
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-0.3489094376564026,
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1.6134942770004272,
0.29777583479881287,
0
] | 0 | 0 |
[
0.7999463081359863,
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0.37570005655288696,
3.015259265899658,
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[
0,
0,
0,
0,
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0
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[
0.004964148160070181,
1.1827255487442017,
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1.6110485792160034,
0.2977769076824188
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[
0,
0,
0,
0,
0,
0,
0
] |
[
0.7999463081359863,
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0.37570005655288696,
3.015259265899658,
-0.12208989262580872,
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0
] |
[
0.004964148160070181,
1.1827255487442017,
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-0.3490547239780426,
-0.08091466128826141,
1.6110485792160034,
0.2977769076824188,
0
] | 1 | 1 |
Lyman
|
Lyman
|
50aee79f
|
50aee79f
|
[
0.28749358654022217,
-0.0914357379078865,
0.42959779500961304,
2.7915022373199463,
0.18847393989562988,
1.8448795080184937
] |
[
0.33953356742858887,
0.4720557928085327,
0.31703782081604004,
-2.075943946838379,
0.007110032718628645,
-2.295785665512085
] |
[
0.3281003534793854,
-0.35070139169692993,
0.38890600204467773,
-2.0393502712249756,
-0.05166702717542648,
-1.010680079460144
] | true | 26.266667 | 394 | 92 | 12,404 | 71 |
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