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 | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | true | 3.133333 | 47 | 2 | 500 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.2 | 48 | 2 | 501 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.266667 | 49 | 2 | 502 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.333333 | 50 | 2 | 503 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.4 | 51 | 2 | 504 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.466667 | 52 | 2 | 505 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.533333 | 53 | 2 | 506 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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0.5191217064857483,
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] | true | 3.6 | 54 | 2 | 507 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.666667 | 55 | 2 | 508 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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2.7059788703918457,
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.733333 | 56 | 2 | 509 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.8 | 57 | 2 | 510 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 3.866667 | 58 | 2 | 511 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 3.933333 | 59 | 2 | 512 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 0.979292 | 0.005272 | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 4 | 60 | 2 | 513 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
0.5442298054695129,
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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] | true | 4.066667 | 61 | 2 | 514 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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] | true | 4.133333 | 62 | 2 | 515 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.2 | 63 | 2 | 516 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.266667 | 64 | 2 | 517 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.04439457505941391,
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] | [
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] | true | 4.333333 | 65 | 2 | 518 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 4.4 | 66 | 2 | 519 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 4.466667 | 67 | 2 | 520 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 0.979841 | 0.007471 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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false | true | true | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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true | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 4.6 | 69 | 3 | 595 | 6 |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 4.666667 | 70 | 3 | 596 | 6 |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 4.733333 | 71 | 3 | 597 | 6 |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 4.8 | 72 | 3 | 598 | 6 |
false | false | false | Move the cushions to the right shoulder of the couch | Move the small pillows to the right | Pick up two pillows and move them to the right side of the couch. | 0 | [
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] | 1 | 0 | Smith Hall 121 | Smith Hall 121 | 553d1bd5 | 553d1bd5 | [
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] | true | 4.866667 | 73 | 3 | 599 | 6 |
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