is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 285
values | language_instruction_3 stringclasses 293
values | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -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 float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
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 float32 0 53 | frame_index int64 0 795 | episode_index int64 0 299 | index int64 0 74.3k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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 | 1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.666667 | 100 | 0 | 100 | 3 |
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 | 1 | [
0.7163347601890564,
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] | 1 | 0 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.733333 | 101 | 0 | 101 | 3 |
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 | 1 | [
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1
] | 0.75 | -1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.8 | 102 | 0 | 102 | 3 |
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 | 1 | [
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1
] | 0.736784 | -1 | [
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1.8763304948806763,
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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0.41563311219215393,
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] | true | 6.866667 | 103 | 0 | 103 | 3 |
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 | 0.973568 | [
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] | 0.6663 | -1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 6.933333 | 104 | 0 | 104 | 3 |
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 | 0.9163 | [
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] | 0.60022 | -1 | [
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] | 1 | 0 | RAIL | RAIL | d027f2ae | d027f2ae | [
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] | true | 7 | 105 | 0 | 105 | 3 |
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 | 0.85022 | [
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] | 0.51652 | -1 | [
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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 | 0.76652 | [
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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 | 0.700441 | [
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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 | 0.61674 | [
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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 | 0.550661 | [
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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 | 0.46696 | [
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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 | 0.405286 | [
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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 | 0.321586 | [
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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 | 0.255507 | [
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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 | 0.171806 | [
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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 | 0.105727 | [
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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 | [
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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 can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0 | [
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0 | [
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0 | [
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0 | [
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0 | [
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] | 1 | 0 | AHG kitchen floor 1 | AHG kitchen floor 1 | cb4f6842 | cb4f6842 | [
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