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 salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 17.066668 | 256 | 291 | 72,203 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 17.133333 | 257 | 291 | 72,204 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 17.200001 | 258 | 291 | 72,205 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 17.266666 | 259 | 291 | 72,206 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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false | false | false | Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf | Pull out the top basket, remove three pairs of socks from the basket and place them on top of the bookshelf, push the basket backwards | Pull the basket and remove some of the socks from the basket and put them on top of the shelf | 0 | [
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false | false | false | Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf | Pull out the top basket, remove three pairs of socks from the basket and place them on top of the bookshelf, push the basket backwards | Pull the basket and remove some of the socks from the basket and put them on top of the shelf | 0 | [
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false | false | false | Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf | Pull out the top basket, remove three pairs of socks from the basket and place them on top of the bookshelf, push the basket backwards | Pull the basket and remove some of the socks from the basket and put them on top of the shelf | 0 | [
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false | false | false | Partially pull out the basket from the shelf, remove socks from it then put them on top of the shelf, and then push the basket back into the shelf | Pull out the top basket, remove three pairs of socks from the basket and place them on top of the bookshelf, push the basket backwards | Pull the basket and remove some of the socks from the basket and put them on top of the shelf | 0 | [
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] | [
0.013605349697172642,
-0.45653003454208374,
0.4222539961338043,
-1.632225513458252,
-0.06686960905790329,
-0.8128510117530823
] | true | 5.933333 | 89 | 292 | 72,299 | 293 |
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