Datasets:
is_first bool | is_last bool | is_terminal bool | language_instruction string | language_instruction_2 string | language_instruction_3 string | observation.state.gripper_position float32 | observation.state.cartesian_position list | observation.state.joint_position list | observation.state list | action.gripper_position float32 | action.gripper_velocity float32 | action.cartesian_position list | action.cartesian_velocity list | action.joint_position list | action.joint_velocity list | action.original list | action list | discount float32 | reward float32 | task_category string | building string | collector_id string | date string | camera_extrinsics.wrist_left list | camera_extrinsics.exterior_1_left list | camera_extrinsics.exterior_2_left list | is_episode_successful bool | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
true | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.017621 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.022026 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.044053 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.110132 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.202643 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.273128 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.343612 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.422907 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.480176 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.555066 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.612335 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.69163 | [
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false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.753304 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 4.866667 | 73 | 0 | 73 | 0 |
false | false | false | Move the green plushie to the left of the orange plushie | Shift the green plushie to the bottom right part of the storage bin | Move the green plush toy to the left of the yellow plush toy | 0.837004 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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2.827479124069214,
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] | true | 4.933333 | 74 | 0 | 74 | 0 |
End of preview. Expand in Data Studio
Merged DROID Skill Dataset: moving
This dataset merges a language-filtered DROID skill subset with newly collected environment data for the same skill.
Repository
- Hugging Face repo:
jellyho/droid_merged_skills_moving - Local merged dataset path:
/scratch/jellyho/droid_merged_skills/moving - Skill:
moving
Sources
[
"jellyho/droid_subsets_moving",
"jellyho/droid_moving_banana"
]
| source_dataset | episodes |
|---|---|
| jellyho/droid_subsets_moving | 300 |
| jellyho/droid_moving_banana | 21 |
State And Action
The compact LeRobot training fields are standardized as 8D vectors:
observation.state = [joint_position_0..6, gripper_position]
action = [joint_velocity_0..6, gripper_position]
For original DROID subset rows, action is derived from
action.joint_velocity plus action.gripper_position. For newly collected
rows, action is derived from observation.joint_velocities[:7] plus the
collected gripper position from the original action vector.
Detailed columns such as action.joint_position, action.joint_velocity,
action.gripper_position, observation.state.joint_position, and
observation.state.gripper_position remain available in the parquet files.
Dataset Statistics
- Episodes:
321 - Frames:
75744 - Unique tasks:
301 observation.stateshape:[8]actionshape:[8]
Top Episode Task Strings
| task | episodes |
|---|---|
| ['move the banana closer to the green bowl'] | 21 |
| ['Slide the white plates a little upwards on the table, slide the white plates a little to the left on the table'] | 1 |
| ['Move the bottle from the lower compartment to the upper compartment of the tray'] | 1 |
| ['Move the green and white sachet forward'] | 1 |
| ['Move the brown bear forward'] | 1 |
| ['Move the bigger cube-shaped object to the tray'] | 1 |
| ['Move the white mug forward.'] | 1 |
| ['Move the turquoise object forward'] | 1 |
| ['Move the cloth'] | 1 |
| ['Move the white ball to the right'] | 1 |
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-000/file-000.parquet
data/chunk-000/file-*.parquet
episodes.csv
merge_summary.json
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