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 | 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 | 0.938326 | [
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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 | 0.947137 | [
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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 | 0.947137 | [
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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 | 0.955947 | [
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] | true | 26.200001 | 393 | 292 | 72,603 | 293 |
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 | 0.955947 | [
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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 | 0.964758 | [
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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 | 0.969163 | [
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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 | 0.964758 | [
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0
] | 1 | 0 | 2300 Jane Ln | 2300 Jane Ln | 52ca9b6a | 52ca9b6a | [
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] | true | 1.066667 | 16 | 293 | 72,697 | 294 |
false | false | false | Move the packet to the left side of the table | Move the plastic packet to the left | Move the white sachet to the left and put it in an upright position | 0 | [
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] | 1 | 0 | 2300 Jane Ln | 2300 Jane Ln | 52ca9b6a | 52ca9b6a | [
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] | true | 1.133333 | 17 | 293 | 72,698 | 294 |
false | false | false | Move the packet to the left side of the table | Move the plastic packet to the left | Move the white sachet to the left and put it in an upright position | 0 | [
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0
] | 0 | 0 | [
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0
] | 1 | 0 | 2300 Jane Ln | 2300 Jane Ln | 52ca9b6a | 52ca9b6a | [
0.20028118789196014,
0.10051358491182327,
0.4619426429271698,
2.779536724090576,
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] | [
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0.009536429308354855,
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] | true | 1.2 | 18 | 293 | 72,699 | 294 |
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